@article {o2019expert, title = {Expert Surgeons Can Smoothly Control Robotic Tools With a Discrete Control Interface}, journal = {IEEE Transactions on Human-Machine Systems}, volume = {49}, number = {4}, year = {2019}, pages = {388{\textendash}394}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/THMS2019_O\%27Malley-et-al.pdf}, author = {O{\textquoteright}Malley, Marcia K and Byrne, Michael D and Estrada, Sean and Duran, Cassidy and Schulz, Daryl and Bismuth, Jean} }