Shankar Sastry 0001 Michael Cohn Frank Tendick Milli-robotics for remote, minimally invasive surgery. 305-316 1997 21 Robotics Auton. Syst. 3 https://doi.org/10.1016/S0921-8890(96)00082-6 db/journals/ras/ras21.html#SastryCT97