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Misra, S., Reed, K.B., Douglas, A.S., Ramesh, K.T. and Okamura, A.M. (2008) Needle-Tissue Interaction Forces for Bevel-Tip Steerable Needles. Proceedings of the IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, 19, 224-231.

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