@article{cursi2022tro,
  title={Optimization of Surgical Robotic Instrument Mounting in a Macro-Micro Manipulator Setup for Improving Task Execution},
  author={Cursi, Francesco and Bai, Weibang and Yeatman, Eric M. and Kormushev, Petar},
  journal={IEEE Transactions on Robotics},
  year={2022},
  month={May},
  issn="2858-2874",
  url = "https://kormushev.com/papers/Cursi_TRO-2022.pdf",
  doi = "10.1109/TRO.2022.3171097",
  publisher={IEEE}
}