Christoph Staub Alois C. Knoll Takayuki Osa Robert Bauernschmitt Autonomous High Precision Positioning of Surgical Instruments in Robot-Assisted Minimally Invasive Surgery under Visual Guidance. 64-69 2010 ICAS https://doi.org/10.1109/ICAS.2010.18 https://doi.ieeecomputersociety.org/10.1109/ICAS.2010.18 conf/icas/2010 db/conf/icas/icas2010.html#StaubKOB10