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New real-time MR image-guided surgical robotic system for m..:

Hashizume, M. ; Yasunaga, T. ; Tanoue, K....
International Journal of Computer Assisted Radiology and Surgery.  2 (2008)  6 - p. 317-325 , 2008
Link: https://doi.org/10.1007/s11548-007-0146-9