An Open-Source Research Kit for the da Vinci\textregistered~Surgical System. Kazanzides, P., Chen, Z., Deguet, A., Fischer, G. S., Taylor, R. H., & DiMaio, S. P. In 2014 IEEE International Conference on Robotics and Automation (ICRA), pages 6434-6439, Hong Kong, China, May, 2014.
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