@article{collaborativeroboticbiopsywithtrajectory,
  title = {Collaborative Robotic Biopsy with Trajectory Guidance and Needle Tip Force Feedback},
  author = {Robin Mieling and Maximilian Neidhardt and Sarah Latus and Carolin Stapper and Stefan Gerlach and Inga Kniep and Axel Heinemann and Benjamin Ondruschka and Alexander Schlaefer},
  year = {2023},
  eprint = {2306.07129},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2306.07129v2},
}