DaVinci Canvas: A Telerobotic Surgical System with Integrated, Robot-Assisted, Laparoscopic Ultrasound Capability. - Joshua Leven; Darius Burschka; Rajesh Kumar 001; Gary Zhang; Steve Blumenkranz; Xiangtian Dai; Michael Awad; Gregory D. Hager; Mike Marohn; Michael A. Choti; Christopher J. Hasser; Russell H. Taylor (MICCAI, 2005)