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Pitch, roll, and yaw variations in patient positioning:

Kaiser, Adeel ; Schultheiss, Timothy E. ; Wong, Jeffrey Y.C....
International Journal of Radiation Oncology*Biology*Physics.  66 (2006)  3 - p. 949-955 , 2006
Link: https://doi.org/10.1016/j.ijrobp.2006.05.055