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Planning for Steerable Bevel-tip Needle Insertion Through 2D Soft Tissue with Obstacles

Ron Alterovitz, Kenneth Y. Goldberg, Allison M. Okamura. Planning for Steerable Bevel-tip Needle Insertion Through 2D Soft Tissue with Obstacles. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation, ICRA 2005, April 18-22, 2005, Barcelona, Spain. pages 1640-1645, IEEE, 2005.

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