Design, Modeling, and Control of a Compact SMA-Actuated MR-Conditional Steerable Neurosurgical Robot. - Shicong Shao; Botian Sun; Qingpeng Ding; Wanquan Yan; Wenjia Zheng; Kim Yan; Yilun Hong; Shing Shin Cheng (IEEE Robotics Autom. Lett., 2020)