@article{McMahan13-JRS-Recording, title = {A Practical System For Recording Instrument Interactions During Live Robotic Surgery}, author = {McMahan, William and Gomez, Ernest D. and Chen, Liting and Bark, Karlin and Nappo, John C. and Koch, Eza I. and Lee, David I. and Dumon, Kristoffel and Williams, Noel and Kuchenbecker, Katherine J.}, journal = {Journal of Robotic Surgery}, volume = {7}, number = {4}, pages = {351--358}, year = {2013}, doi = {} }