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http://robotics.sciencemag.org/lookup/google-scholar?link_type=googlescholar&gs_type=article&author[0]=B.+Hannaford&author[1]=J.+Rosen&author[2]=D.%20W.+Friedman&author[3]=H.+King&author[4]=P.+Roan&author[5]=L.+Cheng&author[6]=D.+Glozman&author[7]=J.+Ma&author[8]=S.%20N.+Kosari&author[9]=L.+White&title=Raven-II:+An+open+platform+for+surgical+robotics+research&publication_year=2013&journal=IEEE+Trans.+Biomed.+Eng.&volume=60&pages=954-959