In vitro and in vivo validation of robotic palpation-based needle insertion method for breast tumor treatment.
Maya HatanoYo KobayashiRyutaro HamanoMakiko SuzukiYasuyuki ShiraishiTomoyuki YambeKozo KonishiMakoto HashizumeMasakatsu G. FujiePublished in: ICRA (2011)