Algorithms for planning the trajectories of electrode insertion for radiofrequency ablation in robotic surgery von Pershin, A. S., Klimov, D. D., Prokhorenko, L. S., Grigoryeva, E. V., Astakhov, D. A., Tupikin, K. A., Podurayev, Yu. V., Rasner, P. I., Panchenkov, D. N.

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