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 …

During percutaneous coronary interventions (PCI), a guidewire is used as an initial way of
accessing a specific vasculature. There are varieties of guidewires on the market and …

In flexible endoscopy a flexible tube with a steerable camera is used to inspect the internal
patient tracts and to perform small surgical interventions. In current practice the physician is …

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 …

Underactuated flexure based grippers are relative new in the field and have promising
applications in agro-food robotic. The shape adaptability of the underactuated kinematics …

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

Measurement of the reaction forces and moments (general wrench) are instrumental in the
development stage of a product. Currently available measurement setups have varying …

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 …