B. Hannaford; J. Rosen; D. W. Friedman; H. King; P. Roan; L. Cheng; D. Glozman; J. Ma et al. (2013), “Raven-II: An Open Platform for Surgical Robotics Research”, IEEE Transactions on Biomedical Engineering60 (4): 954-959, doi:10.1109/TBME.2012.2228858, ISSN0018-9294
B. Hannaford; J. Rosen; D. W. Friedman; H. King; P. Roan; L. Cheng; D. Glozman; J. Ma et al. (2013), “Raven-II: An Open Platform for Surgical Robotics Research”, IEEE Transactions on Biomedical Engineering60 (4): 954-959, doi:10.1109/TBME.2012.2228858, ISSN0018-9294