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Medical Robotics workshop–MRWS. Journal of Computer Aided Surgery. 9, 167–171. Cleary2004.pdf (94.14 KB)(2004).
Precision placement of instruments for minimally invasive procedures using a "needle driver" robot. international journal of medical robotics computer assisted surgery MRCAS. 1, 40–47. Cleary2005.pdf (378.2 KB)(2005).