Research output per year
Research output per year
- 1 - 50 out of 56 results
Search results
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2025
Hybrid registration of the fibula for electromagnetically navigated osteotomies in mandibular reconstructive surgery: a phantom study
Aukema, L. M. N., de Geer, A. F., van Alphen, M. J. A., Schreuder, W. H., van Veen, R. L. P., Ruers, T. J. M., Siepel, F. J. & Karakullukcu, M. B., Feb 2025, In: International journal of computer assisted radiology and surgery. 20, 2, p. 369–377 9 p.Research output: Contribution to journal › Article › Academic › peer-review
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2024
Clinical Application and Further Development of Augmented Reality Guidance for the Surgical Localization of Pediatric Chest Wall Tumors
van der Woude, R., Fitski, M., van der Zee, J. M., van de Ven, C. P., Bökkerink, G. M. J., Wijnen, M. H. W. A., Meulstee, J. W., van Doormaal, T. P. C., Siepel, F. J. & van der Steeg, A. F. W., Aug 2024, In: Journal of Pediatric Surgery. 59, 8, p. 1549-1555 7 p.Research output: Contribution to journal › Article › Academic › peer-review
Open AccessFile1 Citation (Scopus)128 Downloads (Pure) -
Computational Design Optimization of Concentric Tube Robots for Patient-Specific Volumes and End Effector Tasks
De Groot, A. G., Welleweerd, M. K., Cornel, E. B., Groenhuis, V., Stramigioli, S. & Siepel, F. J., 23 Oct 2024, 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2024. IEEE, p. 740-746 7 p. (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
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2023
3-D and 2-D Reconstruction of Bladders for the Assessment of Inter-Session Detection of Tissue Changes: A Proof of Concept
Groenhuis, V., de Groot, A. G., Cornel, E. B., Stramigioli, S. & Siepel, F. J., Oct 2023, In: International journal of computer assisted radiology and surgery. 18, p. 1915-1924 10 p.Research output: Contribution to journal › Article › Academic › peer-review
Open AccessFile2 Citations (Scopus)342 Downloads (Pure) -
3-D Visualization and Inter-Session Comparison for Robotic Assisted Bladder Cancer Screening
Groenhuis, V., de Groot, A. G., Cornel, E. B., Stramigioli, S. & Siepel, F. J., 3 Apr 2023, (Accepted/In press).Research output: Contribution to conference › Abstract › Academic
Open AccessFile96 Downloads (Pure) -
Sunram 7: An MR Safe Robotic System for Breast Biopsy
Ranjan, H., Hilten, M. V., Groenhuis, V., Verde, J., Garcia, A., Perretta, S., Veltman, J., Siepel, F. J. & Stramigioli, S., 13 Dec 2023, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, p. 10281-10288 8 p. 10342425Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
Open AccessFile2 Citations (Scopus)87 Downloads (Pure) -
Tracked ultrasound registration for intraoperative navigation during pediatric bone tumor resections with soft tissue components: a porcine cadaver study
van der Zee, J. M., Fitski, M., van de Sande, M., Buser, M. A. D., Hiep, M. A. J., Terwisscha van Scheltinga, C. E. J., Hulsker, C. C. C., van den Bosch, C. H., van der Heijden, L., van de Ven, C. P., Bökkerink, G. M. J., Wijnen, M. H. W. A., Siepel, F. J. & van der Steeg, A. F. W., 4 Nov 2023, In: International journal of computer assisted radiology and surgery. 19, 2, p. 297-302 6 p.Research output: Contribution to journal › Article › Academic › peer-review
Open AccessFile110 Downloads (Pure) -
Ultrasound-guided breast biopsy using an adapted automated cone-based ultrasound scanner: a feasibility study
Nikolaev, A. V., de Jong, L., Zamecnik, P., Groenhuis, V., Siepel, F. J., Stramigioli, S., Hansen, H. H. G. & de Korte, C. L., Jun 2023, In: Medical physics. 50, 6, p. 3475-3489 15 p.Research output: Contribution to journal › Article › Academic › peer-review
Open AccessFile101 Downloads (Pure) -
2022
Augmented reality-guided localization of a chest wall tumor in a pediatric patient
Spijkerboer, K. G. P., Fitski, M., Siepel, F. J., van de Ven, C. P. & van der Steeg, A. F. W., Jul 2022, In: European journal of cancer. 170, p. 103-105 3 p.Research output: Contribution to journal › Letter › Academic › peer-review
Open AccessFile3 Citations (Scopus)114 Downloads (Pure) -
Robotic Innovations in Support of the Healthcare Workers Against COVID-19 - DIH-HERO Perspective
Jovanovic, K., Schwier, A., Matheson, E., Xiloyannis, M., Rodijk-Rozeboom, E., Hochhausen, N., Vermeulen, B., Graf, B., Wolf, P., Nawrat, Z., Escuder, J., Mechelinck, M., Sørensen, B., Boscolo, P. R., Obach, M., Tognarelli, S., Jankovic, M., Leroux, C., Ferrigno, G. & Siepel, F. & 1 others, , 2022, Advances in Service and Industrial Robotics - RAAD 2022. Müller, A. & Brandstötter, M. (eds.). Cham: Springer, p. 375-382 8 p. (Mechanisms and Machine Science; vol. 120).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
Open AccessFile106 Downloads (Pure) -
2021
3-D Ultrasound Elastography Reconstruction Using Acoustically Transparent Pressure Sensor on Robotic Arm
Groenhuis, V., Nikolaev, A., Nies, S., Welleweerd, M. K., de Jong, L., Hansen, H. H. G., Siepel, F. J., de Korte, C. L. & Stramigioli, S., Feb 2021, In: IEEE Transactions on Medical Robotics and Bionics. 3, 1, p. 265-268 4 p., 9286770.Research output: Contribution to journal › Article › Academic › peer-review
Open AccessFile6 Citations (Scopus)400 Downloads (Pure) -
Automated Cone-Based Breast Ultrasound Scanner For Screening And Biopsy
Nikolaev, A., de Jong, L., Weijers, G. G. C., Groenhuis, V., Siepel, F. J., Stramigioli, S., Hansen, H. H. G. & de Korte, C. L., 29 Jan 2021, Proceedings of the 8th Dutch Bio-Medical Engineering Conference.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
Open AccessFile76 Downloads (Pure) -
Design of 3D Printed Needle Insertion Device and Control Using Mobile Phone Application
Bluiminck, M., Groenhuis, V., Siepel, F. J. & Stramigioli, S., 29 Jan 2021, Proceedings of the 8th Dutch Bio-Medical Engineering Conference 2021. BME, 1 p.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
Open AccessFile79 Downloads (Pure) -
Digital Innovation Hubs in Health-Care Robotics Fighting COVID-19: Novel Support for Patients and Health-Care Workers Across Europe
Jovanovic, K., Schwier, A., Matheson, E., Xiloyannis, M., Rozeboom, E., Hochhausen, N., Vermeulen, B., Graf, B., Wolf, P., Nawrat, Z., Escuder, J., Mechelinck, M., Sorensen, B., Boscolo, P. R., Obach, M., Tognarelli, S., Jankovic, M., Leroux, C., Ferrigno, G. & Siepel, F. J. & 1 others, , Mar 2021, In: IEEE Robotics and Automation Magazine. 28, 1, p. 40-47 8 p., 9330556.Research output: Contribution to journal › Article › Academic › peer-review
Open Access15 Citations (Scopus)1 Downloads (Pure) -
Image-guided Breast Biopsy of MRI-visible Lesions with a Hand-mounted Motorised Needle Steering Tool
Lagomarsino, M., Groenhuis, V., Casadio, M., Welleweerd, M. K., Siepel, F. J. & Stramigioli, S., 2021, 2021 International Symposium on Medical Robotics, ISMR 2021. IEEEResearch output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
Open AccessFile3 Citations (Scopus)76 Downloads (Pure) -
Image-guided Breast Biopsy of MRI-visible Lesions with a Hand-mounted Motorised Needle Steering Tool
Lagomarsino, M., Groenhuis, V., Casadio, M., Welleweerd, M. K., Siepel, F. J. & Stramigioli, S., 20 Jun 2021.Research output: Working paper › Preprint › Academic
File74 Downloads (Pure) -
Magnetic Resonance Pneumatic Stepper Motor With Multiple Concentric Shafts Output
Groenhuis, V., Siepel, F. J. & Stramigioli, S., 5 Aug 2021, In: IEEE/ASME transactions on mechatronics. 27, 4, p. 2379 11 p.Research output: Contribution to journal › Article › Academic › peer-review
Open AccessFile9 Citations (Scopus)426 Downloads (Pure) -
Needle and Biopsy Robots: a Review
Siepel, F. J., Maris, B. M., Welleweerd, M. K., Groenhuis, V., Fiorini, P. & Stramigioli, S., Mar 2021, In: Current Robotics Reports. 12 p.Research output: Contribution to journal › Review article › Academic › peer-review
Open AccessFile458 Downloads (Pure) -
Out-of-Plane Corrections for Autonomous Robotic Breast Ultrasound Acquisitions
Welleweerd, M. K., de Groot, A. G., Groenhuis, V., Siepel, F. J. & Stramigioli, S., 18 Oct 2021, 2021 IEEE International Conference on Robotics and Automation, ICRA 2021. Piscataway, NJ: IEEE, p. 12515-12521 7 p. (Proceedings - IEEE International Conference on Robotics and Automation; vol. 2021).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
Open AccessFile11 Citations (Scopus)196 Downloads (Pure) -
Quantitative Evaluation of an Automated Cone-based Breast Ultrasound Scanner for MRI - 3D US Image Fusion
Nikolaev, A. V., de Jong, L., Weijers, G., Groenhuis, V., Mann, R. M., Siepel, F. J., Maris, B. M., Stramigioli, S., Hansen, H. H. G. & de Korte, C. L., Apr 2021, In: IEEE transactions on medical imaging. 40, 4, p. 1229-1239 11 p., 9319185.Research output: Contribution to journal › Article › Academic › peer-review
Open Access32 Citations (Scopus)62 Downloads (Pure) -
Robot-assisted ultrasound-guided biopsy on MR-detected breast lesions
Welleweerd, M. K., Pantelis, D., de Groot, A. G., Siepel, F. J. & Stramigioli, S., 10 Feb 2021, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, p. 2965-2971 7 p. 9341695Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
Open AccessFile7 Citations (Scopus)122 Downloads (Pure) -
2020
Automated robotic breast ultrasound acquisition using ultrasound feedback
Welleweerd, M. K., de Groot, A. G., de Looijer, S. O. H., Siepel, F. J. & Stramigioli, S., May 2020, 2020 IEEE International Conference on Robotics and Automation, ICRA 2020. Piscataway, NJ: IEEE, p. 9946-9952 7 p. 9196736. (Proceedings IEEE International Conference on Robotics and Automation (ICRA); vol. 2020).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
Open AccessFile36 Citations (Scopus)295 Downloads (Pure) -
Deformation Compensation in Robotically-Assisted Breast Biopsy
Groenhuis, V., Tagliabue, E., Welleweerd, M. K., Siepel, F. J., Munoz Osorio, J. D., Maris, B. M., Dall'Alba, D., Zimmermann, U., Fiorini, P. & Stramigioli, S., 24 Jun 2020. 4 p.Research output: Contribution to conference › Abstract › Academic
Open AccessFile297 Downloads (Pure) -
Design of an end-effector for robot-assisted ultrasound-guided breast biopsies
Welleweerd, M. K., Siepel, F. J., Groenhuis, V., Veltman, J. & Stramigioli, S., Apr 2020, In: International journal of computer assisted radiology and surgery. 15, 4, p. 681-690 10 p.Research output: Contribution to journal › Article › Academic › peer-review
Open AccessFile41 Citations (Scopus)179 Downloads (Pure) -
Increasing the precision of the biopsy with robots: two case studies
Maris, B. M., Fiorini, P., Calanca, A., Tenga, C., Siepel, F. J., Groenhuis, V. & Stramigioli, S., 10 Dec 2020, Proceedings of the I-RIM Conference 2020. p. 1-4 4 p.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
Open AccessFile80 Downloads (Pure) -
Miniaturization of MR Safe Pneumatic Rotational Stepper Motors
Groenhuis, V., Siepel, F. J. & Stramigioli, S., 27 Jan 2020, p. 7150-7156. 7 p.Research output: Contribution to conference › Paper › peer-review
Open AccessFile8 Citations (Scopus)379 Downloads (Pure) -
Production and clinical evaluation of breast lesion skin markers for automated three-dimensional ultrasonography of the breast: a pilot study
de Jong, L., Welleweerd, M. K., van Zelst, J. C. M., Siepel, F. J., Stramigioli, S., Mann, R. M., de Korte, C. L. & Fütterer, J. J., 1 Jun 2020, In: European radiology. 30, 6, p. 3356-3362 7 p.Research output: Contribution to journal › Article › Academic › peer-review
Open AccessFile2 Citations (Scopus)110 Downloads (Pure) -
Quantitative evaluation of automated robot-assisted volumetric breast ultrasound
Nikolaev, A. V., De Jong, L., Groenhuis, V., Welleweerd, M. K., Siepel, F. J., Stramigioli, S., Hansen, H. H. G. & De Korte, C. L., 17 Nov 2020, IUS 2020 - International Ultrasonics Symposium, Proceedings. Piscataway, NJ: IEEE, 9251310. (IEEE International Ultrasonics Symposium, IUS; vol. 2020).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
Open AccessFile1 Citation (Scopus)75 Downloads (Pure) -
Toward a Versatile Robotic Platform for Fluoroscopy and MRI-Guided Endovascular Interventions: A Pre-Clinical Study
Abdelaziz, M. E. M. K., Kundrat, D., Pupillo, M., Kwok, T. M. Y., Chi, W., Groenhuis, V., Siepel, F. J., Riga, C., Stramigioli, S., Yang, G.-Z. & Dagnino, G., 27 Jan 2020, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, p. 5411-5418 8 p. 8968237Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
Open AccessFile46 Citations (Scopus)727 Downloads (Pure) -
2019
Iterative simulations to estimate the elastic properties from a series of MRI images followed by MRI-US validation
Visentin, F. (Corresponding Author), Groenhuis, V., Maris, B., Dall'Alba, D., Siepel, F., Stramigioli, S. & Fiorini, P., 11 Apr 2019, In: Medical & biological engineering & computing. 57, 4, p. 913-924 12 p.Research output: Contribution to journal › Article › Academic › peer-review
Open AccessFile8 Citations (Scopus)276 Downloads (Pure) -
Sunram 5: A Magnetic Resonance-Safe Robotic System for Breast Biopsy, Driven by Pneumatic Stepper Motors
Groenhuis, V., Siepel, F. J. & Stramigioli, S., 24 Sept 2019, Handbook of Robotic and Image-Guided Surgery. Abedin-Nasab, M. H. (ed.). 1st ed. Elsevier, p. 375-396 22 p.Research output: Chapter in Book/Report/Conference proceeding › Chapter › Academic › peer-review
10 Citations (Scopus)19 Downloads (Pure) -
Ultrasound-guided breast biopsy of ultrasound occult lesions using multimodality image co-registration and tissue displacement tracking
Nikolaev, A., Hansen, H. H. G., De Jong, L., Mann, R., Tagliabue, E., Maris, B., Groenhuis, V., Siepel, F., Caballo, M., Sechopoulos, I. & De Korte, C. L., 1 Jan 2019, Medical Imaging 2019: Ultrasonic Imaging and Tomography. Byram, B. C. & Ruiter, N. V. (eds.). SPIE, 109550W. (Progress in Biomedical Optics and Imaging - Proceedings of SPIE; vol. 10955).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
Open AccessFile3 Citations (Scopus)271 Downloads (Pure) -
2018
Analytical derivation of elasticity in breast phantoms for deformation tracking
Groenhuis, V. (Corresponding Author), Visentin, F., Siepel, F. J., Maris, B. M., Dall'Alba, D., Fiorini, P. & Stramigioli, S., 1 Oct 2018, In: International journal of computer assisted radiology and surgery. 13, 10, p. 1641-1650 10 p.Research output: Contribution to journal › Article › Academic › peer-review
Open AccessFile5 Citations (Scopus)167 Downloads (Pure) -
Breast lesion markers for 3D ultrasound examinations of the breast
de Jong, L., Welleweerd, M. K., van Zelst, J., Siepel, F. J., Stramigioli, S., Fütterer, J. J., Mann, R. M. & de Korte, C. L., 1 Mar 2018. 10 p.Research output: Contribution to conference › Poster › Academic
Open AccessFile82 Downloads (Pure) -
Dual-Speed MR Safe Pneumatic Stepper Motors
Groenhuis, V., Siepel, F. J. & Stramigioli, S., 26 Jun 2018. 8 p.Research output: Contribution to conference › Paper › peer-review
Open AccessFile934 Downloads (Pure) -
Pneumatic stepper motor and device comprising at least one such pneumatic stepper motor
Groenhuis, V. (Inventor), Siepel, F. J. (Inventor) & Stramigioli, S. (Inventor), 1 Mar 2018, IPC No. F15B11/127, A61B10/02, A61B34/30, F16H25/02 , Patent No. WO2018038608A1, Priority date 23 Aug 2016, Priority No. PCT/NL2017/050552Research output: Patent
Open AccessFile153 Downloads (Pure) -
Stormram 4: An MR Safe Robotic System for Breast Biopsy
Groenhuis, V. (Corresponding Author), Siepel, F. J., Veltman, J., van Zandwijk, J. K. & Stramigioli, S., 15 Oct 2018, In: Annals of biomedical engineering. 46, 10, p. 1686-1696 11 p.Research output: Contribution to journal › Article › Academic › peer-review
Open AccessFile42 Citations (Scopus)298 Downloads (Pure) -
Sunram 5: An MR Safe Robotic System for Breast Biopsy
Groenhuis, V., Siepel, F. J., Welleweerd, M. K., Veltman, J. & Stramigioli, S., 25 Jun 2018, p. 82-83. 2 p.Research output: Contribution to conference › Paper › peer-review
Open AccessFile368 Downloads (Pure) -
2017
Controlling the Stormram 2: An MRI-compatible Robotic System for Breast Biopsy
Abdelaziz, M. E. M. K., Groenhuis, V., Veltman, J., Siepel, F. J. & Stramigioli, S., 29 May 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA). IEEE, p. 1746 8 p.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
Open AccessFile14 Citations (Scopus)320 Downloads (Pure) -
Design and characterization of Stormram 4: an MRI-compatible robotic system for breast biopsy
Groenhuis, V., Siepel, F. J., Veltman, J. & Stramigioli, S., 24 Sept 2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, p. 928-933 6 p.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
Open AccessFile29 Citations (Scopus)540 Downloads (Pure) -
Design and evaluation of a robotic needle steering manipulator for image-guided breast biopsy
Spoor, R. J. F., Abayazid, M., Siepel, F. J., Groenhuis, V. & Stramigioli, S., 26 Jan 2017, p. 4-4. 1 p.Research output: Contribution to conference › Abstract › Other research output
Open AccessFile183 Downloads (Pure) -
Design and implementation of autonomous robotic scanning of the breast
Schoot Uiterkamp, J. J. A., Groenhuis, V., Siepel, F. J. & Stramigioli, S., 26 Jan 2017. 1 p.Research output: Contribution to conference › Abstract › Other research output
Open AccessFile151 Downloads (Pure) -
MRI and Stereo Vision Surface Reconstruction and Fusion
El Chemaly, T., Siepel, F. J., Rihana, S., Groenhuis, V., van der Heijden, F. & Stramigioli, S., 7 Dec 2017, 2017 Fourth International Conference on Advances in Biomedical Engineering (ICABME). IEEE, 4 p.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
Open AccessFile3 Citations (Scopus)225 Downloads (Pure) -
Stormram 3: A Magnetic Resonance Imaging-Compatible Robotic System for Breast Biopsy
Groenhuis, V. (Corresponding Author), Veltman, J., Siepel, F. J. & Stramigioli, S., 1 Jun 2017, In: IEEE robotics & automation magazine. 24, 2, p. 34-41 8 p., 2.Research output: Contribution to journal › Special issue › Academic › peer-review
Open AccessFile26 Citations (Scopus)738 Downloads (Pure) -
2016
Loss of Dopamine Transporter Binding and Clinical Symptoms in Dementia With Lewy Bodies
Siepel, F. J. (Corresponding Author), Dalen, I., Gruner, R., Booij, J., Bronnick, K. S., Buter, T. C. & Aarsland, D., Jan 2016, In: Movement disorders. 31, 1, p. 118-125Research output: Contribution to journal › Article › Academic › peer-review
30 Citations (Scopus)17 Downloads (Pure) -
2015
Erratum: (123I)FP-CIT SPECT in suspected dementia with Lewy bodies: A longitudinal case study (BMJ Open (2013) 3 (e002642))
Siepel, F. J., Rongve, A. & Buter, T. C., 2015, In: BMJ open. 5, 7, e002642.Research output: Contribution to journal › Comment/Letter to the editor › Academic › peer-review
Open AccessFile27 Downloads (Pure) -
2014
Cognitive Executive Impairment and Dopaminergic Deficits in De Novo Parkinson's Disease
Siepel, F. J. (Corresponding Author), Bronnick, K. S., Booij, J., Ravina, B. M., Lebedev, A. V., Pereira, J. B., Gruner, R. & Aarsland, D., Dec 2014, In: Movement disorders. 29, 14, p. 1802-1808Research output: Contribution to journal › Article › Academic › peer-review
66 Citations (Scopus)13 Downloads (Pure) -
Cognitive impairment in early Parkinson's disease: An [123I] FP-CIT SPECT study
Siepel, F. J., Bronick, K. S., Booij, J., Ravina, B. M., Lebedev, A. V., Gruner, R. & Aarsland, D., May 2014, In: Movement disorders. 29, S1, p. S363-S364Research output: Contribution to journal › Meeting Abstract › Academic
3 Citations (Scopus) -
Dopamine deficiency and clinical symptoms in suspected Lewy body dementia: a quantitative [123I]FP-CIT SPECT study
Siepel, F. J., Dalen, I., Alves, G. W., Gruner, R., Booij, J., Bronnick, K. S. & Aarsland, D., Oct 2014, In: European journal of nuclear medicine and molecular imaging. 41, 2, Suppl., p. S323-S323Research output: Contribution to journal › Meeting Abstract › Academic
30 Downloads (Pure) -
Large-scale resting state network correlates of cognitive impairment in Parkinson's disease and related dopaminergic deficits
Lebedev, A. V. (Corresponding Author), Westman, E., Simmons, A., Lebedeva, A., Siepel, F. J., Pereira, J. B. & Aarsland, D., 3 Apr 2014, In: Frontiers in systems neuroscience. 8, Apr, 45.Research output: Contribution to journal › Article › Academic › peer-review
Open AccessFile83 Citations (Scopus)11 Downloads (Pure)