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A variable stiffness mechanism for steerable percutaneous i..:

De Falco, Iris ; Culmone, Costanza ; Menciassi, Arianna..
Medical & Biological Engineering & Computing.  56 (2018)  12 - p. 2185-2199 , 2018
Link: https://doi.org/10.1007/s11517-018-1847-7