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Designing and validating a PVA liver phantom with respiratory motion for needle-based interventions
Needle deflection in thermal ablation procedures of liver tumors: a CT image analysis
Needle placement errors: do we need steerable needles in interventional radiology?
Dataset on force measurements of needle insertions into two ex-vivo human livers
PVA matches human liver in needle-tissue interaction
The influence of tip shape on bending force during needle insertion
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