A Miniature Continuum Robot with Integrated Piezoelectric Beacon Transducers and its Ultrasonic Shape Detection in Robot-Assisted Minimally Invasive Surgeries.
Zhanpeng YinYan HongXiaoyu SunZhiyuan ShenYingxuan ZhangFeng JuBruce W. DrinkwaterPublished in: IROS (2022)