Philip Pratt Archie Hughes-Hallett Lin Zhang 0021 Nisha Patel Erik Mayer Ara Darzi Guang-Zhong Yang Autonomous Ultrasound-Guided Tissue Dissection. 249-257 2015 MICCAI (1) https://doi.org/10.1007/978-3-319-24553-9_31 conf/miccai/2015-1 db/conf/miccai/miccai2015-1.html#PrattHZPMDY15