Toshio Fukuda Shuxiang Guo Kazuhiro Kosuge Fumihito Arai Makoto Negoro K. Nakabayashi Micro Active Catheter System with Multi Degrees of Freedom. 2290-2295 1994 conf/icra/1994 ICRA db/conf/icra/icra1994-3.html#FukudaGANN94 http://dx.doi.org/10.1109/ROBOT.1994.350944