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)