Robotic needle insertion during computed tomography fluoroscopy-guided biopsy: prospective first-in-human feasibility trial.
Hiraki T, Kamegawa T, Matsuno T, Sakurai J, Komaki T, Yamaguchi T, Tomita K, Uka M, Matsui Y, Iguchi T, Gobara H, Kanazawa S.
Eur Radiol.[Epub ahead of print],2019