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 …

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 limited dexterity of conventional flexible endoscopic instruments restricts the clinical
procedures that can be performed by flexible endoscopy. Advanced instruments with a …

This paper focuses on the problem of synthesis of spatial four-bar linkages of the RCCC type
for rigid-body guidance with four given poses, R denoting a revolute, C a cylindrical …

The implementation of flexible instruments in surgery necessitates high motion and force
fidelity and good controllability of the tip. However, the positional accuracy and the force …

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

The shape information of flexible endoscopes or other continuum structures, eg, intro-
vascular catheters, is needed for accurate navigation, motion compensation, and haptic …

The success of flexible instruments in surgery requires high motion and force fidelity and
controllability of the tip. However, the friction and the limited stiffness of such instruments …

Modern surgical procedures involve flexible instruments for both diagnostic and therapeutic
purposes. The implementation of flexible instruments in surgery necessitates high motion …