A Miniature Continuum Robot with Integrated Piezoelectric Beacon Transducers and its Ultrasonic Shape Detection in Robot-Assisted Minimally Invasive Surgeries. - Zhanpeng Yin; Yan Hong; Xiaoyu Sun; Zhiyuan Shen; Yingxuan Zhang; Feng Ju; Bruce W. Drinkwater (IROS, 2022)