@inproceedings{Staub_PIICRA_2010, author = "Staub, C. and Osa, T. and Knoll, A. and Bauernschmitt, R.", year = "2010", title = "Automation of tissue piercing using circular needles and vision guidance for computer aided laparoscopic surgery ", booktitle = "Proceedings of IEEE International Conference on Robotics and Automation (ICRA) ", URL = "http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=5509601", publisher = "ieee", pages = "4585-4590", crossref = "p10815" }