PT Unknown AU Weede, O Wünscher, J Kenngott, H Müller-Stich, B Wörn, H TI Knowledge-Based Planning of Port Positions for Minimally Invasive Surgery SE 6th IEEE Conference on Robotics, Automation and Mechatronics (RAM’13), Manila, Philippines, November 12-15, 2013 PY 2013 LA english ER