@inproceedings{Thienphrapa2009,
  author = {Thienphrapa, P. and Kazanzides, P.},
  title = {A scalable system for real-time control of dexterous surgical robots},
  booktitle = {IEEE Intl. Conf. on Technologies for Practical Robot Applications (TePRA)},
  address = {Woburn, MA},
  pages = {16-22},
  month = {Nov},
  year = {2009}
}

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