An Individually Controlled Multitined Expandable Electrode Using Active Cannula-Based Shape Morphing for On-Demand Conformal Radiofrequency Ablation Lesions. - Zhiping Chai; Liangxiong Lyu; Menghao Pu; Xianwen Chen; Jiaqi Zhu 003; Huageng Liang; Han Ding 001; Zhigang Wu (Adv. Intell. Syst., 2022)