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Boyang Xiao, Alireza Alamdar, Kefan Song, Ali Ebrahimi, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita. *. In International Symposium on Medical Robotics, ISMR 2022, Atlanta, GA, USA, April 13-15, 2022. pages 1-7, IEEE, 2022. [doi]