CT-guided needle insertion with an optical navigation robot-assisted puncture system: ex vivo and in vivo experimental studies in the liver and kidneys - Cui, Wei; Deng, Yi; Chen, Jingjing; Le, Yanqing; Shi, Huaying; Ye, Suyi; Huang, Bingding; Chen, Xiaoming; Li, Jing; Xu, Rongde (Quantitative Imaging in Medicine and Surgery, 2025)