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Kinematic control of redundant arms based on the virtual incision ports for robotic single-port access surgery

Junwon Jang, Hyundo Choi, Hyung Joo Kim, Ho-Seong Kwak. Kinematic control of redundant arms based on the virtual incision ports for robotic single-port access surgery. In 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, May 31 - June 7, 2014. pages 4176-4181, IEEE, 2014. [doi]

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