Robotic ultrasound-guided facet joint insertion. - Javier Esteban; Walter Simson; Sebastian Requena Witzig; Anna Rienmüller; Salvatore Virga; Benjamin Frisch; Oliver Zettinig; Drazen Sakara; Yu-Mi Ryang; Nassir Navab; Christoph Hennersperger (Int. J. Comput. Assist. Radiol. Surg., 2018)