Compact forceps manipulator for laparoscopic surgery. - Takashi Suzuki; Youichi Katayama; Etsuko Kobayashi; Ichiro Sakuma (IROS, 2005)

Compact Forceps Manipulator Using Friction Wheel Mechanism and Gimbals Mechanism for Laparoscopic Surgery. - Takashi Suzuki; Youichi Katayama; Etsuko Kobayashi; Ichiro Sakuma (MICCAI (2), 2005)