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2023
Design and kinematics of a tube-shaped multidirectional bending robotic device using slackened SMA wires for transurethral ureterolithotripsy.
[DOI]
Wenrui Liu
,
Noriko Tsuruoka
,
Yoshikatsu Tanahashi
,
Yoichi Haga
Int. J. Comput. Assist. Radiol. Surg., January, 2023