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MANGO: low-cost open source needle guidance:

Galvão da Mata, João Victor ; Krumb, Henry ; Mishra, Utkarsh..
Computer Methods in Biomechanics and Biomedical Engineering: Imaging & Visualization.  11 (2022)  4 - p. 1151-1157 , 2022
Link: https://doi.org/10.1080/21681163.2022.2154276