Chiu, A. M., D. Dey, M. Drangova, W. D. Boyd, and T. M. Peters. “3-D Image Guidance for Minimally Invasive Robotic Coronary Artery Bypass”. The Heart Surgery Forum, vol. 3, no. 3, Sept. 2000, pp. E224-E231, https://journal.hsforum.com/index.php/HSF/article/view/6453.