Yoshihiko Nakamura A. Matsui T. Saito K. Yoshimoto Shape-Memory-Alloy Active Forceps for Laparoscopic Surgery. 2320-2327 1995 conf/icra/1995 ICRA db/conf/icra/icra1995-3.html#NakamuraMSY95 http://dx.doi.org/10.1109/ROBOT.1995.525607