@article {Hager2008,
	title = {Surgical and interventional robotics: part III [Tutorial]},
	journal = {IEEE Robotics \& Automation Magazine},
	volume = {15},
	number = {4},
	year = {2008},
	month = {Dec},
	pages = {84{\textendash}93},
	doi = {10 1109/MRA 2008 930401},
	author = {Gregory D. Hager and Allison Okamura and Peter Kazanzides and Whitcomb, Louis L. and Gabor Fichtinger and Russell H. Taylor}
}
