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[Iordachita2004] Iordachita, I., R. Wiard, G. Fichtinger, I. Sakuma, and D. Stoianovici, "Controllable motorized devices for accurate percutaneous needle placement in soft tissue target", The Eleventh World Congress in Mechanism and Machine Science, pp. 82-86, 2004.  Download: Iordachita2004.pdf (1.8 MB)