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Physical Properties of the Liver and the Development of an Intelligent Manipulator for Needle Insertion

Yo Kobayashi, Jun Okamoto, Masakatsu G. Fujie. Physical Properties of the Liver and the Development of an Intelligent Manipulator for Needle Insertion. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation, ICRA 2005, April 18-22, 2005, Barcelona, Spain. pages 1632-1639, IEEE, 2005.

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