Surgical and Interventional Robotics: Surgical CAD-CAM Systems (Part II). Fichtinger, G., Kazanzides, P., Okamura, A. M., Hager, G. D., Whitcomb, L. L., & Taylor, R. H. IEEE Robotics and Automation Magazine, 15(3):94-102, Sep, 2008.
bibtex   
@article{Fichtinger2008b,
  author = {Fichtinger, Gabor and Kazanzides, Peter and Okamura, Allison M. and Hager, Gregordy D. and Whitcomb, Louis L.
            and Taylor, Russell H.},
  title = {Surgical and Interventional Robotics: Surgical {CAD-CAM} Systems (Part {II})},
  journal = {IEEE Robotics and Automation Magazine},
  volume = {15},
  number = {3},
  pages = {94-102},
  month = {Sep},
  year = {2008}
}
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