Original Research Published on 20 Sep 2019 Handheld Active Add-On Control Unit for a Cable-Driven Flexible Endoscope in Biomedical Robotics Julie LegrandAllan JavauxMouloud OurakDirk WenmakersTom VercauterenJan DeprestSebastien OurselinKathleen DenisEmmanuel Vander Poorten Frontiers in Robotics and AI doi 10.3389/frobt.2019.00087 6,642 views 12 citations