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Robotically assisted ablative treatment guided by freehand 3D ultrasound. Conference of Computer Assisted Radiology and Surgery (CARS). 503-508. Boctor2004e.pdf (669.44 KB)(2004).
Virtual remote center of motion control for needle placement robots. Journal of Computer Aided Surgery. 9, 175–183. Boctor2003b.pdf (399.33 KB)(2003).
Virtual remote center of motion control for needle placement robots. Journal of Computer Assisted Surgery. 9 (5), 175-183. Boctor2004d.pdf (1.74 MB)(2004).