Automatic positioning of surgical instruments during laparoscopic surgery with robots using automatic visual feedbackA. Krupa, M. de Mathelin, C. Doignon, J. Gangloff, G. Morel, L. Sole, J. Leroy and J. MarescauxESAIM: Proc., 12 (2002) 75-83DOI: https://doi.org/10.1051/proc:2002014
