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[Cleary2005] "Precision placement of instruments for minimally invasive procedures using a "needle driver" robot", international journal of medical robotics computer assisted surgery MRCAS, vol. 1, no. 2: Division of Computer Aided Interventions, Medical Robotics (CAIMR), Imaging Science, Information Systems (ISIS) Center, Department of Radiology, Georgetown University Medical Center, Washington, DC, USA cleary@georgetown edu, pp. 40–47, Jan, 2005.