Julien Mintenbeck, Christoph Ledermann, Ramon Estaña, Heinz Wörn. EndoSnake - A Single-Arm-Multi-Port MIRS System with Flexible Instruments. In Emanuele Menegatti, Nathan Michael, Karsten Berns, Hiroaki Yamaguchi, editors, Intelligent Autonomous Systems 13 - Proceedings of the 13th International Conference IAS-13, Padova, Italy, July 15-18, 2014. Volume 302 of Advances in Intelligent Systems and Computing, pages 1107-1117, Springer, 2014. [doi]