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Lea, J., D. Watkins, A. Mills, M. A. Peshkin, T. C. Kienzle, and S. D. Stulberg, "Registration and immobilization in robot-assisted surgery", Computer Aided Surgery, vol. 1, no. 2: Informa UK Ltd UK, pp. 80–87, 1995.
Lea, J., J. J. Santos-Munné, and M. A. Peshkin, "Diagramming registration connectivity and structure [computer-assisted surgery]", Engineering in Medicine and Biology Magazine, IEEE, vol. 14, no. 3: IEEE, pp. 271–278, 1995.
Lea, J., and M. A. Peshkin, "Registration graphs: a diagramming and analysis tool for registration in computer-assisted surgery", Computer Assisted Radiology and Surgery: 13th International Symposium and Exhibition (CARS 99), pp. 767–771, 1999.