[IEEE 2008 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society - Vancouver, BC (2008.08.20-2008.08.25)] 2008 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society - A novel highly articulated robotic surgical system for epicardial ablationOta, Takeyoshi; Degani, Amir; Schwartzman, David; Zubiate, Brett; McGarvey, Jeremy; Choset, Howie; Zenati, Marco A. · 2008