In vivo evaluation of tissue damage from varying grasping forces using the Saroa surgical system by Hiroyasu Nakashima, Yuichiro Ueda, Yoko Miyanari, Teruyuki Nishihara, Makoto Hamasaki, Makoto Ohbu, Kenji Kawashima, Hajime Yamakage, So Miyahara, Keita Tokuishi, Ryuichi Waseda, Takeshi Shiraishi, Toshihiko Sato

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