Real-time 3D US-CT fusion-based semi-automatic puncture robot system: clinical evaluation. - Masayuki Nakayama; Bo Zhang 028; Ryoko Kuromatsu; Masahito Nakano; Yu Noda; Takumi Kawaguchi; Qiang Li; Yuji Maekawa; Masakatsu G. Fujie; Shigeki Sugano (Int. J. Comput. Assist. Radiol. Surg., 2025)