@article{rosen_ma_2015, 
  title={Autonomous Operation in Surgical Robotics}, 
  volume={137}, 
  DOI={10.1115/1.2015-sep-9}, 
  number={09}, 
  publisher={ASME International}, 
  author={Rosen and Ma}, 
  year={2015}, 
  month={Sep}
  }