# Wire-driven flexible manipulator with constrained spherical joints for minimally invasive surgery

> Research article (International Journal of Computer Assisted Radiology and Surgery, 2019) · cited 23× · AI/ML

**Wikidata**: [openalex:W2939033485](https://www.wikidata.org/wiki/openalex:W2939033485)  
**Source**: https://4ort.xyz/entity/wire-driven-flexible-manipulator-with-constrained-spherical-joints-for-minimally-invasive-surgery