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Precisely positioning the tip of an instrument inserted through an orifice with a free wrist robot: application to prostate biopsies

Rémi Chalard, David Reversat, Guillaume Morel, Pierre Mozer, Marie-Aude Vitrani. Precisely positioning the tip of an instrument inserted through an orifice with a free wrist robot: application to prostate biopsies. Int. J. Computer Assisted Radiology and Surgery, 13(5):611-618, 2018. [doi]

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