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An extended algorithm for autonomous grasping of soft tissu..:

Amirkhani, Golchehr ; Farahmand, Farzam ; Yazdian, Seied Muhammad.
The International Journal of Medical Robotics and Computer Assisted Surgery.  16 (2020)  5 - p. 1-15 , 2020
Link: https://doi.org/10.1002/rcs.2122