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Yilin Cai, Andrew L. Orekhov, Howie Choset. Statics Modeling of Discrete Joint Surgical Probes with Tendon-based Stiffening. In International Symposium on Medical Robotics, ISMR 2023, Atlanta, GA, USA, April 19-21, 2023. pages 1-7, IEEE, 2023. [doi]