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CT-guided Needle Insertion with an Optical Navigation Robot-assisted Puncture System: Ex Vivo and In Vivo Experimental Studies in the Liver and Kidneys

Wei Cui, Yi Deng, Jingjing Chen, Yanqing Le, Huaying Shi, Suyi Ye, Bingding Huang, Xiaoming Chen, Jing Li, Rongde Xu

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