Shunmugasundar Esakkiappan Bijan Shirinzadeh Weichen Wei Development of a cost-effective actuation unit for three DOF concentric tube robot in minimally invasive surgery. 1013-1018 2019 AIM https://doi.org/10.1109/AIM.2019.8868571 conf/aimech/2019 db/conf/aimech/aim2019.html#EsakkiappanSW19