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A modular force‐controlled robotic instrument for minimally..:

Khadem, Seyed Mohsen ; Behzadipour, Saeed ; Mirbagheri, Alireza.
The International Journal of Medical Robotics and Computer Assisted Surgery.  12 (2016)  4 - p. 620-633 , 2016
Link: https://doi.org/10.1002/rcs.1727