Robot-assisted biopsy using ultrasound guidance: initial results from in vitro tests

Closed-form solution of absolute orientation using unit quaternions

Berthold K. P. Horn · Journal of the Optical Society of America A · 1987 · 4.1K citations

Computing, Computer Science, Computational Geometry +16

Predicting error in rigid-body point-based registration

J. Michael Fitzpatrick, Jay B. West, Calvin R. Maurer · IEEE Transactions on Medical Imaging · 1998 · 1K citations

Medicine, Neurosurgery, Surgery +14

First experiences with the da Vinci™ operating robot in thoracic surgery☆

Johannes Bodner, Heinz Wykypiel, Gerold J. Wetscher et al. · European Journal of Cardio-Thoracic Surgery · 2004 · 319 citations

Engineering, Surgery, General Surgery +13

3d ultrasonic image feature localization based on magnetic scanhead tracking: In vitro calibration and validation

Paul R. Detmer, G. Bashein, Timothy Hodges et al. · Ultrasound in Medicine & Biology · 1994 · 236 citations

Medicine, Biomedical Engineering, Radiology +11

State of the Art in Surgical Robotics: Clinical Applications and Technology Challenges

Kevin Cleary, Charles C. Nguyen · Computer Aided Surgery · 2001 · 193 citations

Engineering, Neurosurgery, Orthopedic Surgery +17