Challenges in Robotic Soft Tissue Manipulation -- Problem Identification Based on an Interdisciplinary Case Study of a Teleoperated Drawing Robot in Practice. In John Billingsley, and Peter Brett (Eds.), Mechatronics and Machine Vision in Practice 4, 245--262, Springer International Publishing, Cham, 2021. [PUMA: AC AG AV DT FJ JS JT MMa MWa OR PX SAKL SK ZC grk2198] URL