Surgical robotics beyond enhanced dexterity instrumentation: a survey of machine learning techniques and their role in intelligent and autonomous surgical actions (vol 11, pg 553, 2016) - Kassahun, Y; Yu, B; Tibebu, AT; Stoyanov, D; Giannarou, S; Metzen, JH; Poorten, EV (International Journal of Computer Assisted Radiology and Surgery, 2016)