Submitted on: 16 March 2003.
Revised on: 09 April 2003.
Accepted on: 26 April 2003.
___________________International Journal of Medical Robotics and Computer Assisted Surgery
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Submitted on: 23 May 2010.
Revised on: 19 September 2010.
Accepted on: 05 November 2010.
___________________International Journal of Medical Robotics and Computer Assisted Surgery
Submitted on: 18 August 2016.
Revised on: 08 September 2016.
Accepted on: 26 September 2016.
___________________International Journal of Medical Robotics and Computer Assisted Surgery
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