The following publications are possibly variants of this publication:
- Preoperative Needle Insertion Path Planning for Minimizing Deflection in Multilayered TissuesRyosuke Tsumura, Jin Seob Kim, Hiroyasu Iwata, Iulian Iordachita. ral, 3(3):2129-2136, 2018. [doi]
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- Histological evaluation of tissue damage caused by rotational needle insertionRyosuke Tsumura, Yusuke Takishita, Yuta Fukushima, Hiroyasu Iwata. embc 2016: 5120-5123 [doi]