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Ultrasound-guided portable vessel puncture robot
SUN Baiqiang, WANG Chongyang, LIN Peng, HE Guannan, JIANG Zhenming, BI Jianbin, LIU Hao
Journal of University of Chinese Academy of Sciences . 2025, (4): 547 -553 .  DOI: 10.7523/j.ucas.2023.061