Abstract: Retinal microsurgery requires the precise manipulation of delicate tissue in the interior of the eye. Smart surgical instruments with dexterous tip and force sensing capabilities can permit surgeons to perform more flexible ...

Abstract: This paper presents a novel miniature contact-aided compliant mechanism (CCM) that includes flexure hinges and contact-aided structures. This continuum mechanism comprises a nickel–titanium alloy (Nitinol) tube with CCM ...