Abstract: 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 paper proposes the minimum strain energy ...

Abstract: Flexible instruments are extensively used in medical applications. Manipulation of these instruments is challenging and troublesome. To study the behavior of these instruments, different modeling approaches like finite ...

Abstract: Flexible instruments are increasingly used to carry out surgical procedures. The instrument tip is remotely controlled by the surgeon. The flexibility of the instrument and the friction inside the curved endoscope jeopardize ...

Abstract: The force transmission of a flexible instrument through an endoscope is considerably deteriorated due to friction between the contacting surfaces. Friction force along the axial direction can be reduced by combining the ...

Abstract: 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 transmission of these instruments are ...

Abstract: 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 limit the motion and force transmission ...