1. 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): doi: /
Figure Legend:
Compliant scissors-forceps design

2. 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): doi: /
Figure Legend:
Compliant mechanism model. A-B is treated as a flexible beam; sections B-C and C-D are assumed to be rigid

3. 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): doi: /
Figure Legend:
Pseudo-rigid body model

4. 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): doi: /
Figure Legend:
Compliant mechanism variables

5. 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): doi: /
Figure Legend:
Results for 0.5mm compliant mechanism

6. 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): doi: /
Figure Legend:
Results for 5.0mm compliant mechanism

7. 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): doi: /
Figure Legend:
Finite element model of scissors-forceps

8. 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): doi: /
Figure Legend:
Von Mises stress distribution (MPa) for scissors-forceps (half-symmetry model)

9. 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): doi: /
Figure Legend:
Prototype compliant multifunctional scissors-forceps

10. 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): doi: /
Figure Legend:
Prototype grasping an egg membrane. Note cut made by scissors.

11. 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): doi: /
Figure Legend:
Pull-off force test setup

12. 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): doi: /
Figure Legend:
Grasping force test setup