Abstract

Bioinspired compliant manipulators (CMs) are operators that mimic biological structures or functions and combine them with existing technologies. Bioinspired CMs have unique functions in medical fields. However, due to the complex working environment, strict size restrictions, and safety requirements, the current bioinspired CMs still show shortcomings, such as low stiffness, excessive size, and the lack of degrees of freedom (DOFs). This chapter reviews the complaint manipulators and instruments in MIS robot systems. The advantages, limitations, and future development of each manipulator are analyzed, which has a guiding significance for developing bioinspired CMs.

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