@ARTICLE{MarBSPC19, author = {Arturo Marban and Vignesh Srinivasan and Wojciech Samek and Josep Fern{\'a}ndez and Alicia Casals}, title = {A Recurrent Convolutional Neural Network Approach for Sensorless Force Estimation in Robotic Surgery}, journal = {Biomedical Signal Processing and Control}, year = {2019}, volume = {50}, pages = {134-150}, doi = {10.1016/j.bspc.2019.01.011}, url = {http://dx.doi.org/10.1016/j.bspc.2019.01.011} }