Leniowski, Ryszard, and Lucyna Leniowska. “Mathematical Model of a Multi-Link Surgical Manipulator Joint With an Antiseptic Coating”. Journal of Automation, Mobile Robotics and Intelligent Systems, vol. 5, no. 3, Jan. 2013, pp. 21-26, https://www.jamris.org/index.php/JAMRIS/article/view/170.