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A Review on Flexible Robotic Systems for Minimally Invasive..:

Omisore, Olatunji Mumini ; Han, Shipeng ; Xiong, Jing...
IEEE Transactions on Systems, Man, and Cybernetics: Systems.  52 (2022)  1 - p. 631-644 , 2022
Link: https://doi.org/10.1109/tsmc.2020.3026174