Peter Francis, Kyle W. Eastwood, Vivek Bodani, Karl Price, Kunj Upadhyaya, Dale Podolsky, Hamidreza Azimian, Thomas Looi, James M. Drake. Miniaturized Instruments for the da Vinci Research Kit: Design and Implementation of Custom Continuum Tools. IEEE Robot. Automat. Mag., 24(2):24-33, 2017. [doi]
Abstract is missing.