Deep-learning based electromagnetic navigation system for transthoracic percutaneous puncture of small pulmonary nodules by Muyun Peng, Xinyi Fan, Qikang Hu, Xilong Mei, Bin Wang, Zeyu Wu, Huali Hu, Lei Tang, Xinhang Hu, Yanyi Yang, Chunxia Qin, Huajie Zhang, Qun Liu, Xiaofeng Chen, Fenglei Yu

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