A variable stiffness transverse mode shape memory alloy actuator as a minimally invasive organ positionerW. Anderson, A. Eshghinejad, R. Azadegan, C. Cooper and M. ElahiniaEur. Phys. J. Special Topics, 222 7 (2013) 1503-1518DOI: https://doi.org/10.1140/epjst/e2013-01941-9