Figure 4
From: Two-way least-incision transformable end-effector forceps for robot-assisted surgery

Handpiece mechanisms: (a) Transformation mechanism (b) Grasping operation mechanism (c) Change of disk engaged with handle.
From: Two-way least-incision transformable end-effector forceps for robot-assisted surgery
Handpiece mechanisms: (a) Transformation mechanism (b) Grasping operation mechanism (c) Change of disk engaged with handle.