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Spinal pain relief procedures with the assistance of the MR..:

Alimohamadi Gilakjan, Samaneh ; Majedi, Hossein ; Makki Abadi, Bahador.
The International Journal of Medical Robotics and Computer Assisted Surgery.  16 (2020)  3 - p. , 2020
Link: https://doi.org/10.1002/rcs.2085