Yunke Ao Manish Prajapat Yarden As Yassine Taoudi-Benchekroun Fabio Carrillo Hooman Esfandiari Benjamin F. Grewe Andreas Krause 0001 Philipp Fürnstahl Robust-Sub-Gaussian Model Predictive Control for Safe Ultrasound-Image-Guided Robotic Spinal Surgery. 2025 August abs/2508.06744 CoRR https://doi.org/10.48550/arXiv.2508.06744 db/journals/corr/corr2508.html#abs-2508-06744 streams/journals/corr