@article{article, title  = {{Compact Manipulator With Flexible Parallel Mechanisms and Variable Stiffness for Keyhole Procedures}},

 publisher = {{Wiley}},

 url = {{https://doi.org/10.1002/smb2.70015 }},

 year = {{2025}},

 month = {{12}},

 author = {{Li C and Diao J and Qian C and Wu X and Ren H and Cao L and Duan X}},

 doi = {{10.1002/smb2.70015}},

 journal = {{SmartBot}},

 note = {{Accessed on 2025/12/16}}}