@ARTICLE{bauernschmitt2006surgend,
  author = {R. Bauernschmitt and M. Feuerstein and J. Traub and E.U. Schirmbeck and G. Klinker and R. Lange},
  title = {Optimal port placement and enhanced guidance in robotically assisted cardiac surgery},
  journal = {Surgical Endoscopy},
  year = {2007},
  month = {April},
  volume = {21},
  number = {4},
  pages = {684--687},
  doi = {10.1007/s00464-006-9057-z}
}