Robotic Force Stabilization for Beating Heart Intracardiac Surgery

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A Robust Uniaxial Force Sensor for Minimally Invasive Surgery

M. Yip, S. Yuen and R. Howe

Robotic Force Stabilization for Beating Heart Intracardiac Surgery

S. Yuen, M. Yip, N. Vasilyev, D. Perrin, P. del Nido and R. Howe