Mitchell J. H. Lum Diana C. W. Friedman Ganesh Sankaranarayanan Hawkeye H. I. King Kenneth Fodero Rainer Leuschke Blake Hannaford Jacob Rosen Mika N. Sinanan The RAVEN: Design and Validation of a Telesurgery System. 1183-1197 2009 28 I. J. Robotic Res. 9 http://dx.doi.org/10.1177/0278364909101795 db/journals/ijrr/ijrr28.html#LumFSKFLHRS09