# A Direct Drive Parallel Plane Piezoelectric Needle Positioning Robot for MRI Guided Intraspinal Injection

> Research article (IEEE Transactions on Biomedical Engineering, 2020) · cited 40× · AI/ML

**Wikidata**: [openalex:W3082925862](https://www.wikidata.org/wiki/openalex:W3082925862)  
**Source**: https://4ort.xyz/entity/a-direct-drive-parallel-plane-piezoelectric-needle-positioning-robot-for-mri-guided-intraspinal-injection