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"Forces and torques during robotic needle insertion to human vertebra."
Kiyoshi Matsumiya et al. (2003)
- Kiyoshi Matsumiya, Yasuyuki Momoi, Etsuko Kobayashi, Nobuhiko Sugano, Kazuo Yonenobu, Hiroshi Inada, Takayuki Tsuji, Ichiro Sakuma:

Forces and torques during robotic needle insertion to human vertebra. CARS 2003: 492-497

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