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Robotically assisted ablative treatment guided by freehand 3D ultrasound., , , , and . CARS, volume 1268 of International Congress Series, page 503-508. Elsevier, (2004)Motion planning for active cannulas., , and . IROS, page 801-806. IEEE, (2009)Rapid, Reliable Shape Setting of Superelastic Nitinol for Prototyping Robots., and . IEEE Robotics and Automation Letters, 1 (1): 98-105 (2016)Comparison Study of Intraoperative Surface Acquisition Methods for Surgical Navigation., , , , , , , and . IEEE Trans. Biomed. Engineering, 60 (4): 1090-1099 (2013)Kontinuumsroboter auf Basis vorgebogener Nitinolröhrchen: Evaluierung eines Prototypen für die Transnasale Schädelbasischirurgie., , , , and . CURAC, volume 1429 of CEUR Workshop Proceedings, page 143-146. CEUR-WS.org, (2012)A multi-arm hand-held robotic system for transurethral laser Prostate surgery., , and . ICRA, page 2850-2855. IEEE, (2014)Visual sensing of continuum robot shape using self-organizing maps., , , and . ICRA, page 4591-4596. IEEE, (2010)Motion planning for a three-stage multilumen transoral lung access system., , , , and . IROS, page 3255-3261. IEEE, (2015)A Hand-Held Non-Robotic Surgical Tool With a Wrist and an Elbow., , , , , and . IEEE Trans. Biomed. Engineering, 66 (11): 3176-3184 (2019)Workspace characterization for concentric tube continuum robots., , , , and . IROS, page 1269-1275. IEEE, (2014)