# Preoperative trajectory planning for percutaneous procedures in deformable environments

> Research article (Computerized Medical Imaging and Graphics, 2015) · cited 40× · AI/ML

**Wikidata**: [openalex:W2177324447](https://www.wikidata.org/wiki/openalex:W2177324447)  
**Source**: https://4ort.xyz/entity/preoperative-trajectory-planning-for-percutaneous-procedures-in-deformable-environments