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A robotic surgical tool with continuum wrist, kinematically optimized curved stem, and collision avoidance kinematics for single port procedure

EngineeringComputer-assisted SurgeryContinuum WristMedicineSurgical PlanningMechanical SystemsRobotic SurgerySurgeryRobotic Surgical ToolBiomedical EngineeringKinematicsCurved StemRobot-assisted SurgeryRoboticsMedical RobotSurgical Innovation