Yan Bailly Anatole Chauvin Yacine Amirat Control of a high dexterity micro-robot based catheter for aortic aneurysm treatment. 65-70 2004 RAM http://ieeexplore.ieee.org/xpls/abs_all.jsp?isnumber=30991&arnumber=1438893&count=107&index=11 conf/ram/2004 db/conf/ram/ram2004.html#BaillyCA04