Abstract: Instruments used in endoscopic surgery (colonoscopy surgery or natural orifice transluminal endoscopic surgery (NOTES)) are flexible to be advanced in human body. However, when the end of the instrument reaches the target, ...

Abstract: Safety is always a commonly concerned issue during the development of minimally invasive surgery for more than 30 yr. For the absence of force feedback in conventional forceps, excessive pressure may be applied on tissues ...