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Touching the Tumor Boundary: a Pilot Study on Ultrasound-Based Virtual Fixtures for Breast-Conserving Surgery.

Laura Connolly,Tamas Ungi,Adnan Munawar,Anton Deguet, Chris Yeung, Russell H. Taylor,Parvin Mousavi,Gabor Fichtinger, Keyvan Hashtrudi-Zaad

International Journal of Computer Assisted Radiology and Surgery（2025）

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Key words
Breast-conserving surgery,Cooperative robotics,Ultrasound,Haptic feedback,Virtual fixture
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