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S. D. Heazrrell, D. M. Kwartowitz, P. M. Milhoua and R. L. Galloway, “Toward Image Guided Robotic Surgery: System Validation,” The Journal of Urology, Vol. 181, No. 2, 2009, pp. 783-789. doi:10.1016/j.juro.2008.10.022

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