Int J CARS
 2022
DOI: 10.1007/s11548-022-02756-3
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Design and kinematics of a tube-shaped multidirectional bending robotic device using slackened SMA wires for transurethral ureterolithotripsy

Wenrui Liu
1
,
Noriko Tsuruoka
2
,
Yoshikatsu Tanahashi3
et al.
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