# A Handheld Hydraulic Soft Robotic Device With Bidirectional Bending End-Effector for Minimally Invasive Surgery

> Research article (IEEE Transactions on Medical Robotics and Bionics, 2023) · cited 21× · AI/ML

**Wikidata**: [openalex:W4383220100](https://www.wikidata.org/wiki/openalex:W4383220100)  
**Source**: https://4ort.xyz/entity/a-handheld-hydraulic-soft-robotic-device-with-bidirectional-bending-end-effector-for-minimally-invasive-surgery