A state of the art review and categorization of multi-branched instruments for NOTES and SILS

Control devices and steering strategies in pathway surgery

Attaining high bending stiffness by full actuation in steerable minimally invasive surgical instruments

Method for minimising rolling joint play in the steerable laparoscopic instrument prototype DragonFlex

Classification of joints used in steerable instruments for minimally invasive surgery: A review of the state of the art

Design of an endovascular morcellator for the surgical treatment of equine Cushing's disease

Classification of joints used in steerable instruments for minimally invasive surgery

Minimally invasive surgical instruments with an accessory channel capable of integrating fibre-optic cable for optical biopsy: a review of the state of the art

Bioinspired spring-loaded biopsy harvester-experimental prototype design and feasibility tests

DragonFlex ¿ smart steerable laparoscopic instrument

Bio-Inspired spring-loaded biopsy harvester