Image-Based Trajectory Tracking Control of 4-DoF Laparoscopic Instruments Using a Rotation Distinguishing Marker.
Zerui WangSing Chun LeeFangxun ZhongDavid Navarro-AlarconYunhui LiuAnton DeguetPeter KazanzidesRussell H. TaylorPublished in: IEEE Robotics Autom. Lett. (2017)