@misc{indiciae8562809655e4,
  title = {Spatial motion constraints for robot assisted suturing using virtual fixtures.},
  author = {Ankur Kapoor and Ming Li and Russell H Taylor},
  year = {2005},
  doi = {10.1007/11566489\_12},
  url = {https://pubmed.ncbi.nlm.nih.gov/16685947/},
  note = {Source identifier: 16685947}
}