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D. C. Friedman, T. S. Lendvay and B. Hannaford, “Instrument Failures for the da Vinci Surgical System: A Food and Drug Administration MAUDE Database Study,” Surgical Endoscopy, Vol. 27, No. 5, 2013, pp. 1503-1508.
http://dx.doi.org/10.1007/s00464-012-2659-8

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