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Article Type: Research-Article
J. Comput. Nonlinear Dynam. January 2014, 9(1): 011018.
Paper No: CND-12-1209
Published Online: December 9, 2013
..., the positional accuracy and the force transmission of these instruments are jeopardized by the friction, the clearance, and the inherent compliance of the instrument. The surgical instrument is modeled as a series of interconnected spatial beam elements. The endoscope is modeled as a rigid curved tube...