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A Hybrid Concentric Tube Robot for Cholesteatoma Laser Surg..:

Nguyen, D. V. A. ; Girerd, C. ; Boyer, Q....
IEEE Robotics and Automation Letters.  7 (2022)  1 - p. 462-469 , 2022
Link: https://doi.org/10.1109/lra.2021.3128685