An MR Safe Double-Arch Needle Insertion Robot with Scissor-Folding Mechanism for Abdominal Percutaneous Interventions*. - Ziting Liang; Chuang Lu; Haoqian Yang; Ryman Hashem; Mohamed E. M. K. Abdelaziz; Lukas Lindenroth; Steve Bandula; Danail Stoyanov; Agostino Stilli (IROS, 2024)