Jongwon Lee Keehoon Kim Wan Kyun Chung Seungmoon Choi Young Soo Kim Human-guided surgical robot system for spinal fusion surgery: CoRASS. 3881-3887 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543807 conf/icra/2008 db/conf/icra/icra2008.html#LeeKCCK08