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CIELab and sRGB color values of in vivo normal and grasped porcine liver., , , , , , and . MMVR, volume 125 of Studies in Health Technology and Informatics, page 109-111. IOS Press, (2007)Raven-II: An Open Platform for Surgical Robotics Research., , , , , , , , , and . IEEE Trans. Biomed. Eng., 60 (4): 954-959 (2013)