A Prototype Master-slave System Consisting of two MR-compatible Manipulators with Interchangeable Surgical Tools: Part of a Unified Support System for Diagnosis and Treatment.

Fujio Tajima, Kousuke Kishi, Kouji Nishizawa, Kazutoshi Kan, Hiroshi Ishii, Ken-ichi Sudo, Masakatsu G. Fujie, Takeyoshi Dohi, Shin-ichi Takamoto

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