[IEEE 2017 IEEE 17th International Conference on Bioinformatics and Bioengineering (BIBE) - Washington, DC (2017.10.23-2017.10.25)] 2017 IEEE 17th International Conference on Bioinformatics and Bioengineering (BIBE) - Towards a Modular, Customizable Robotic System for Needle-Based Image-Guided Interventions: Preliminary Designs, Implementation, and Testing

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