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2. Visual servoing for automatic and uncalibrated needle placement for percutaneous procedures;Navab,2000
3. System for robotically assisted percutaneous procedures with computer tomography guidance;Masamune;Computer Aided Surgery,2001
4. A single image registration method for CT-guided interventions;Susil,1999
5. An ultrasound-driven needle-insertion robot for percutaneous cholecystostomy;Hong,2004