Tavakoli-2005

@ARTICLE{Tavakoli-2005,

  author = {M. Tavakoli and R.V. Patel and M. Moallem},
  title = {Haptic Interaction in Robot-Assisted Endoscopic Surgery: A Sensorized
    End Effector},
  journal = {The International Journal of Medical Robotics and Computer Assisted
    Surgery},
  year = {2005},
  volume = {1},
  pages = {53-63},
  number = {2}

}