Developing a method to plan robotic straight needle insertion using a probability-based assessment of puncture occurrence

Author： Kobayashi Yo   Onishi Akinori   Watanabe Hiroki   Hoshi Takeharu   Kawamura Kazuya   Fujie Masakatsu G.  

Publisher： Taylor & Francis Ltd

ISSN： 1568-5535

Source： Advanced Robotics, Vol.27, Iss.6, 2013-04, pp. : 417-430

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