Andrew Bzostek Rajesh Kumar 0001 Nobuhiko Hata Oliver Schorr Ron Kikinis Russell H. Taylor Distributed Modular Computer-Integrated Surgical Robotic Systems: Implementation Using Modular Software and Networked Systems. 969-978 2000 conf/miccai/2000 MICCAI db/conf/miccai/miccai2000.html#BzostekKHSKT00