# A Novel 4-DOF Origami Grasper With an SMA-Actuation System for Minimally Invasive Surgery

> Research article (IEEE Transactions on Robotics, 2016) · cited 157× · AI/ML

**Wikidata**: [openalex:W2338031188](https://www.wikidata.org/wiki/openalex:W2338031188)  
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