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並前往https://www.cambridge.org/core/journals/robotica/article/closedloop-control-of-beveltip-needles-based-on-path-planning/545F62A4D42E0B780B38C5E70F4F2C27

Closed-loop control of bevel-tip needles based on path planning

In order to drive bevel-tip needles precisely with the constrains of path length and path dangerousness, we propose a closed-loop control method ...

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