Using general-purpose serial-link manipulators for laparoscopic surgery with moving remote center of motion. Marinho, M. M, Bernardes, M. C, & Bo, A. P. Journal of Medical Robotics Research (JMRR), 1(04):1650007, World Scientific Publishing Company, August, 2016.
Using general-purpose serial-link manipulators for laparoscopic surgery with moving remote center of motion [pdf]Paper  doi  bibtex   
@Article{marinho2016using,
  author    = {Marinho, Murilo M and Bernardes, Mariana C and Bo, Antonio PL},
  title     = {Using general-purpose serial-link manipulators for laparoscopic surgery with moving remote center of motion},
  journal   = {Journal of Medical Robotics Research (JMRR)},
  year      = {2016},
  month     = aug,
  volume    = {1},
  number    = {04},
  pages     = {1650007},
  doi       = {10.1142/S2424905X16500070},
  publisher = {World Scientific Publishing Company},
  url       = {papers/jmrr2016.pdf},
  custom_type  = {1. Journal Paper}
}
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