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application/pdfIEEEIEEE Access;2018;6; ;10.1109/ACCESS.2018.2844563Surgical instrumentsforce feedbackcalibrationstrain measurementsurgical robotics modularityModular Instrument for a Haptically-Enabled Robotic Surgical System (HeroSurg)Mohsen Moradi DalvandSaeid NahavandiMichael FieldingJames MullinsZoran NajdovskiRobert D. Howe
IEEE Access31974 2018 6 10.1109/ACCESS.2018.284456331982
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