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Training robotic surgery in urology: experience and opinion..:

Brinkman, W. M. ; Schout, B. M. A. ; Rietbergen, J. B....
The International Journal of Medical Robotics and Computer Assisted Surgery.  11 (2014)  3 - p. 308-318 , 2014
Link: https://doi.org/10.1002/rcs.1631