%0 Journal Article %J IEEE Transactions on Human-Machine Systems %D 2019 %T Expert Surgeons Can Smoothly Control Robotic Tools With a Discrete Control Interface %A O’Malley, Marcia K %A Byrne, Michael D %A Estrada, Sean %A Duran, Cassidy %A Schulz, Daryl %A Bismuth, Jean %B IEEE Transactions on Human-Machine Systems %V 49 %P 388–394 %G eng %> https://mahilab.rice.edu/sites/default/files/publications/THMS2019_O%27Malley-et-al.pdf