Multi-DOF Forceps Manipulator System for Laparoscopic Surgery - Mechanism Miniaturized & Evaluation of New Interface.

Ryoichi Nakamura, Takeshi Oura, Etsuko Kobayashi, Ichiro Sakuma, Takeyoshi Dohi, Naoki Yahagi, Takayuki Tsuji, Mitsuo Shimada, Makoto Hashizume

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