@book { Chiao:2007ph-yih, title = {Microactuators for in vivo imaging and micromanipulators in minimally-invasive procedures}, series = {Micro- and Nano-Manipulations for Biomedical Applications}, editor = {Yih, T.C. and Talpasanu, I.}, year = {2007}, publisher = {Artech House}, type = {incollection}, chapter = {4}, author = { Chiao, J.-C. and Chiao, M. } }