Closing the Loop on Concentric Tube Robot Design: A Case Study on Micro-Laryngeal Surgery. - Jui-Te Lin; Cédric Girerd; Benjamin T. Ostrander; Parsa Molaei; Hunter B. Gilbert; Philip A. Weissbrod; John T. Hwang; Tania K. Morimoto (IEEE Trans. Biomed. Eng., 2024)