The steerable catheter refers to the catheter that is manipulated by a mechanism which may
be driven by operators or by actuators. The steerable catheter for minimally invasive surgery …

The leg mechanism of the novel jumping robot, Salto, is designed to achieve multiple
functions during the sub-200 ms time span that the leg interacts with the ground, including …

Background The steep radiation dose gradients in cervical cancer brachytherapy (BT)
necessitate a thorough understanding of the behavior of afterloader source cables or …

Flexible endoscopy and catheterization typically involve inserting a flexible shaft into a
curved channel. Understanding the mechanics involved in the insertion process is crucial for …

The main facets of designing compliant mechanisms are synthesis, modelling and
optimization. This thesis focuses on these three aspects of designing compliant mechanisms …

Flexible instruments are increasingly used to perform advanced and complex surgical
procedures either manually or robotically. The success of flexible instruments in surgery …

Flexible instruments are extensively used in medical applications. Manipulation of these
instruments is challenging and troublesome. To study the behavior of these instruments …

Flexible medical instruments undergo looping during insertion and navigation inside the
human body. It makes the control of the distal end difficult and raises safety concerns. This …

The steerable catheters have demonstrated many advantages to overcome the limitations of
the conventional catheters in the minimally invasive surgery. The motion and force …

The main facets of designing compliant mechanisms are synthesis, modelling and
optimization. This thesis focuses on these three aspects of designing compliant mechanisms …