1. Medical Device Directive 93/42/EEC, June 14, 1993.
2. ISO 14971: Medical devices—Application of risk management to medical devices (2000).
3. IEC 601-1-4: Medical electrical equipment: Part 1. General requirements for safety; 4. Collateral Standard: Programmable electrical medical systems (1996).
4. A safe robot system for craniofacial surgery;Engel,2001
5. Techniques for development of safety-related software for surgical robots;Varley;IEEE Transactions on Information Technology in Biomedicine,1999