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Robotic CT-guided out-of-plane needle insertion: comparison of angle accuracy with manual insertion in phantom and measurement of distance accuracy in animals.

Komaki T, Hiraki T, Kamegawa T, Matsuno T, Sakurai J, Matsuura R, Yamaguchi T, Sasaki T, Mitsuhashi T, Okamoto S, Uka M, Matsui Y, Iguchi T, Gobara H, Kanazawa S.
European Radiology[Epub ahead of print],2019

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