On-site three dimensional force sensing capability in a laparoscopic grasper

Author： Tholey Gregory   Pillarisetti Anand   Desai Jaydev P.  

Publisher： Emerald Group Publishing Ltd

ISSN： 0143-991X

Source： Industrial Robot: An International Journal, Vol.31, Iss.6, 2004-12, pp. : 509-518

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