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Three‐dimensional ultrasound‐guided robotic needle placemen..:

Boctor, Emad M. ; Choti, Michael A. ; Burdette, Everette C..
The International Journal of Medical Robotics and Computer Assisted Surgery.  4 (2008)  2 - p. 180-191 , 2008
Link: https://doi.org/10.1002/rcs.184