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Software-based planning of ultrasound and CT-guided percuta..:

van Amerongen, M. J. ; Mariappan, P. ; Voglreiter, P....
International Journal of Computer Assisted Radiology and Surgery.  16 (2021)  6 - p. 1051-1057 , 2021
Link: https://doi.org/10.1007/s11548-021-02394-1