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              <p>In minimally-invasive procedures like biopsy, the physician has to insert a needle into the tissues of a patient to reach a target. Currently, this task is mostly performed manually. This can result in a large nal positioning error of the tip that might lead to misdiagnosis and inadequate treatment. In this paper, wepresent 5 haptic guides to assist the clinical gesture of needle insertion. Those guides were evaluated through a preliminary user study involving two physicians, both experts in needle manipulation.</p>
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