Modeling of a 4-DOF Flexible Laparoscopic Instrument for Robot-Assisted Minimally Invasive Surgery. - Calin Vaida; Ionut Zima; Florin Graur; Bogdan Gherman; Vasile Bulbucan; Paul Tucan; Alexandru Pusca; Florin Zaharie; Pierre Mougenot; Adrian Pisla; Damien Chablat; Nadim Al Hajjar; et al. (Robotics, 2026)