3A1-A03 Development of Forceps Manipulator with Flexible Spinal Mechanism for Single Incision Laparoscopic Surgery(Medical Robotics and Mechatronics (1))Toshinobu Matsumoto, Tatsuo Nakamura, Yuta Nakamura et al.|The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)|2014Cited by 2