# Extracting Subtask-specific Metrics Toward Objective Assessment of Needle Insertion Skill for Hemodialysis Cannulation

> Research article (Journal of Medical Robotics Research, 2019) · cited 11× · AI/ML

**Wikidata**: [openalex:W3003697434](https://www.wikidata.org/wiki/openalex:W3003697434)  
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