Development of a 6-DOF manipulator driven by flexible shaft for minimally invasive surgical application. - Quanquan Liu 001; Yo Kobayashi; Takahiko Noguchi; Inko Elgezua; Yuta Sekiguchi; Bo Zhang 028; Jing Ye 005; Kazutaka Toyoda; Makoto Hashizume; Masakatsu G. Fujie (EMBC, 2013)