Abstract: This work presents the design of an articulate neuroendoscopic instrument (ANI), a handheld tool for use in minimally invasive neurosurgery. The instrument consists of a handle and a steerable tube-shaft with a distal ...

Abstract: This work presents a novel miniature contact-aided compliant joint mechanism that can be integrated into millimeter-sized manual or robotic surgical instruments. The design aims to address the trade-off between notched-tube ...

Abstract: Pin-jointed wrist mechanisms provide compact articulation for surgical robotic applications, but are difficult to miniaturize at scales suitable for small body cavity surgery. Solid surface cable guide channels, which ...