Muñoz Rodríguez, P. E., and A. Vivas Albán. “Robotic Guide System for Insertion of Screws in Spinal Fixation Surgery”. Revista Mexicana De Ingenieria Biomedica, vol. 36, no. 2, May 2015, pp. 143-54, doi:10.17488/RMIB.36.2.3pdf.