@article {Kazanzides2008a,
	title = {Surgical and Interventional Robotics - Core Concepts, Technology and Design [Tutorial]},
	journal = {IEEE Robotics \& Automation Magazine},
	volume = {15},
	number = {2},
	year = {2008},
	month = {June},
	pages = {122{\textendash}130},
	doi = {10 1109/MRA 2008 926390},
	author = {Peter Kazanzides and Gabor Fichtinger and Gregory D. Hager and Allison Okamura and Whitcomb, Louis L. and Russell H. Taylor}
}
