A dexterous system for laryngeal surgery

By Nabil Simaan, Russell H. Taylor, P. Flint. IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004, 2004

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Continuous Backbone “ Continuum ” Robot Manipulators : A Review (2013, neutral): “A system for laryngeal surgery was developed in [44].”
Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review (2010, background): “Many other continuum robots have also been observed to exhibit approximate constant curvature (e.g. Hannan and Walker (2003), Simaan et al. (2004), Anderson and Horn (1967), Hirose (1993), Cie´slak and Morecki (1999), and Immega and Antonelli (1995), among others).”
"Soft" Continuum Robots - the Interaction of Continuous and Discrete Elements (2008, background): “Snakearm robots are used in the nuclear industry and for robotic surgery [28],[33] (Fig.”
Field trials and testing of the OctArm continuum manipulator (2006, background): “The concept of continuum robots is not new [1], [4], [9].”
Mechanics of Precurved-Tube Continuum Robots (2009, background): “Continuously flexible (“continuum”) robots [1]–[6] provide an alternative, although most designs require wires [5], [7], [8], flexible push rods [9], pneumatic actuators [4], [6], or other external actuation mechanisms that limit miniaturization.”