# A novel 4-DOF surgical instrument with modular joints and 6-Axis Force sensing capability

> Research article (International Journal of Medical Robotics and Computer Assisted Surgery, 2016) · cited 16× · AI/ML

**Wikidata**: [openalex:W2429020069](https://www.wikidata.org/wiki/openalex:W2429020069)  
**Source**: https://4ort.xyz/entity/a-novel-4-dof-surgical-instrument-with-modular-joints-and-6-axis-force-sensing-capability