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Needle Tip Pose Estimation for Ultrasound-Guided Steerable ..:

Zhao, Yan-Jiang ; Wen, Chao ; Zhang, Yong-De.
IEEE Robotics and Automation Letters.  7 (2022)  4 - p. 11705-11712 , 2022
Link: https://doi.org/10.1109/lra.2022.3196465