Comparison Between the PAF Rail and Surgical Instruments for Organ Manipulation in Laparoscopic and Robotic Surgery: A Randomised Cross-Over Usability Study. - Aoife McDonald-Bowyer; Lorenzo Caciolli; Soha El-Sheikh; Jeremy Opie; R. Barod; Danail Stoyanov; Agostino Stilli (IEEE Trans. Biomed. Eng., 2025)