@patent{piccin_device_2017,
	title = {Device for grasping an elongated body, such as a needle, and robotized device comprising the same},
	url = {http://www.google.com/patents/US9782224},
	abstract = {A device for selectively grasping a part of a separate elongated body extending through the device, includes at least three partially mobile jaw members defining between them a through hole of variable diameter depending on their mutual relative positioning, supporting and driving elements to which the jaw members are mounted and which are adapted to provide a coordinated motion to the members around the elongated body situated in the variable through hole, resulting in a closing or opening of the through hole. The jaw members have an elongated shape with two opposed ends and the supporting and driving elements include a circular or annular support body to which a first end of each jaw member is connected and a mobile annular driving body to which a second opposed end of each jaw member is connected.},
	nationality = {United States},
	assignee = {Universite De Strasbourg (Etablissement Public National A Caractere Scientifique, Culturel Et Professionnel),},
	number = {US9782224 B2},
	author = {Piccin, Olivier and Kumar, Nitish and Meylheuc, Laurence and Barbe, Laurent and Bayle, Bernard and Schmitt, Francois},
	month = oct,
	year = {2017},
	note = {International Classification A61B34/00, A61B34/30, A61B17/34, B23B31/12, B25J15/10, B25J15/08, A61B17/00, A61B90/11, B25J15/12; Cooperative Classification B25J15/12, A61B19/2203, A61B2034/715, A61B2017/00862, B25J15/086, A61B2034/305, A61B90/11, B23B31/1261, A61B17/3403, A61B2017/3409, B25J15/10, A61B2017/347, A61B34/30, A61B2017/00955, A61B2017/3407}
}