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3D ultrasound in robotic surgery: performance evaluation wi..:

Novotny, Paul M. ; Jacobsen, Stephen K. ; Vasilyev, Nikolay V....
The International Journal of Medical Robotics and Computer Assisted Surgery.  2 (2006)  3 - p. 279-285 , 2006
Link: https://doi.org/10.1002/rcs.102