# 4-DoF spherical parallel wrist with embedded grasping capability for minimally invasive surgery

> Research article (2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016) · cited 16× · AI/ML

**Wikidata**: [openalex:W2567687768](https://www.wikidata.org/wiki/openalex:W2567687768)  
**Source**: https://4ort.xyz/entity/4-dof-spherical-parallel-wrist-with-embedded-grasping-capability-for-minimally-invasive-surgery