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M. Zoppi, Sieklicki, W., and Molfino, R. M., Design of a micro robotic wrist for needle laparoscopic surgery, ASME J. of Mech. Des., vol. 130, pp. 102306-1 - 102306-8, 2008.
W. Sieklicki, Zoppi, M., and Molfino, R. M., Superelastic compliant mechanisms for needlescopic surgical wrists, in Reconfigurable Mechanisms and Robots, 2009. ReMAR 2009. ASME/IFToMM International Conference on, 2009, pp. 392–399.