A Study on the Dexterity of Surgical Robotic Tools in a Highly Immersive Virtual Environment: Assessing Usability and Efficacy. - Andrea Danioni; Gulfem Ceren Yavuz; Defne Ege Ozan; Elena De Momi; Anthony Koupparis; Sanja Dogramadzi (IEEE Robotics Autom. Mag., 2022)