Date of download: 11/6/2017 Copyright © ASME. All rights reserved. From: Design of a Multifunctional Compliant Instrument for Minimally Invasive Surgery J Biomech Eng. 2005;127(6):990-993. doi:10.1115/1.2056560 Figure Legend: Compliant scissors-forceps design

Date of download: 11/6/2017 Copyright © ASME. All rights reserved. From: Design of a Multifunctional Compliant Instrument for Minimally Invasive Surgery J Biomech Eng. 2005;127(6):990-993. doi:10.1115/1.2056560 Figure Legend: Compliant mechanism model. A-B is treated as a flexible beam; sections B-C and C-D are assumed to be rigid

Date of download: 11/6/2017 Copyright © ASME. All rights reserved. From: Design of a Multifunctional Compliant Instrument for Minimally Invasive Surgery J Biomech Eng. 2005;127(6):990-993. doi:10.1115/1.2056560 Figure Legend: Pseudo-rigid body model

Date of download: 11/6/2017 Copyright © ASME. All rights reserved. From: Design of a Multifunctional Compliant Instrument for Minimally Invasive Surgery J Biomech Eng. 2005;127(6):990-993. doi:10.1115/1.2056560 Figure Legend: Compliant mechanism variables

Date of download: 11/6/2017 Copyright © ASME. All rights reserved. From: Design of a Multifunctional Compliant Instrument for Minimally Invasive Surgery J Biomech Eng. 2005;127(6):990-993. doi:10.1115/1.2056560 Figure Legend: Results for 0.5mm compliant mechanism

Date of download: 11/6/2017 Copyright © ASME. All rights reserved. From: Design of a Multifunctional Compliant Instrument for Minimally Invasive Surgery J Biomech Eng. 2005;127(6):990-993. doi:10.1115/1.2056560 Figure Legend: Results for 5.0mm compliant mechanism

Date of download: 11/6/2017 Copyright © ASME. All rights reserved. From: Design of a Multifunctional Compliant Instrument for Minimally Invasive Surgery J Biomech Eng. 2005;127(6):990-993. doi:10.1115/1.2056560 Figure Legend: Finite element model of scissors-forceps

Date of download: 11/6/2017 Copyright © ASME. All rights reserved. From: Design of a Multifunctional Compliant Instrument for Minimally Invasive Surgery J Biomech Eng. 2005;127(6):990-993. doi:10.1115/1.2056560 Figure Legend: Von Mises stress distribution (MPa) for scissors-forceps (half-symmetry model)

Date of download: 11/6/2017 Copyright © ASME. All rights reserved. From: Design of a Multifunctional Compliant Instrument for Minimally Invasive Surgery J Biomech Eng. 2005;127(6):990-993. doi:10.1115/1.2056560 Figure Legend: Prototype compliant multifunctional scissors-forceps

Date of download: 11/6/2017 Copyright © ASME. All rights reserved. From: Design of a Multifunctional Compliant Instrument for Minimally Invasive Surgery J Biomech Eng. 2005;127(6):990-993. doi:10.1115/1.2056560 Figure Legend: Prototype grasping an egg membrane. Note cut made by scissors.

Date of download: 11/6/2017 Copyright © ASME. All rights reserved. From: Design of a Multifunctional Compliant Instrument for Minimally Invasive Surgery J Biomech Eng. 2005;127(6):990-993. doi:10.1115/1.2056560 Figure Legend: Pull-off force test setup

Date of download: 11/6/2017 Copyright © ASME. All rights reserved. From: Design of a Multifunctional Compliant Instrument for Minimally Invasive Surgery J Biomech Eng. 2005;127(6):990-993. doi:10.1115/1.2056560 Figure Legend: Grasping force test setup