Kiyoshi Matsumiya Yasuyuki Momoi Etsuko Kobayashi Nobuhiko Sugano Kazuo Yonenobu Hiroshi Inada Takayuki Tsuji Ichiro Sakuma Analysis of Forces during Robotic Needle Insertion to Human Vertebra. 271-278 https://doi.org/10.1007/978-3-540-39899-8_34 2003 conf/miccai/2003-1 MICCAI (1) db/conf/miccai/miccai2003-1.html#MatsumiyaMKSYITS03