FPGA-Based High-Performance Collision Detection: An Enabling Technique for Image-Guided Robotic Surgery. - Zhaorui Zhang; Yao Xin; Benben Liu; Will X. Y. Li; Kit-Hang Lee; Chun-Fai Ng; Danail Stoyanov; Ray C. C. Cheung; Ka-Wai Kwok (Frontiers Robotics AI, 2016)