# A multilateral impedance-controlled system for haptics-enabled surgical training and cooperation in beating-heart surgery

> Research article (International Journal of Intelligent Robotics and Applications, 2019) · cited 14× · AI/ML

**Wikidata**: [openalex:W2966158438](https://www.wikidata.org/wiki/openalex:W2966158438)  
**Source**: https://4ort.xyz/entity/a-multilateral-impedance-controlled-system-for-haptics-enabled-surgical-training-and-cooperation-in-beating-heart-surger