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中文
Dynamic Modeling and Gripping Force Estimation of Hand-Held Rope-Driven Minimally Invasive Surgical Robots
FENG Qingmin，CHEN Yu，LI Shuai，HU Yingzi，LIU Yongzhi，XIE Qinlan，LIU Shenglin
China Medical Devices . 2025, (
4
): 32 -37 . DOI: 10.3969/j.issn.1674-1633.20240231
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