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Author(s):
Staub, Christoph; Osa, Takayuki; Knoll, Alois; Bauernschmitt, Robert 
Title:
Automation of Tissue Piercing using Circular Needles and Vision Guidancefor Computer Aided Laparoscopic Surgery 
Book / Congress title:
proceedings of the IEEE International Conference on Robotics andAutomation 
Publisher address:
Anchorage, Alaska, USA 
Year:
2010 
Month:
May 
Pages:
4585--4590