An Electromagnetic Navigation Surgical Robotic System (ENSRS) for Transthoracic Puncture of Small Pulmonary Nodules. - Chunxia Qin; Huajie Zhang; Lei Tang; Qikang Hu; Xiaofeng Chen; Huali Hu; Fenglei Yu; Muyun Peng (IEEE Trans. Biomed. Eng., 2026)