Design and control of a compact modular robot for transbronchial lung biopsy. - Stephanie Amack; Margaret Rox; Jason E. Mitchell; Tayfun Efe Ertop; Maxwell Emerson; Alan Kuntz; Fabien Maldonado; Jason A. Akulian; Joshua B. Gafford; Ron Alterovitz; Robert J. Webster III (Image-Guided Procedures, 2019)