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![Cover for Ron Alterovitz · Motion Planning in Medicine: Optimization and Simulation Algorithms for Image-Guided Procedures - Springer Tracts in Advanced Robotics (Paperback Book) [1st ed. Softcover of orig. ed. 2008 edition] (2010)](https://imusic.b-cdn.net/images/item/original/742/9783642088742.jpg?ron-alterovitz-2010-motion-planning-in-medicine-optimization-and-simulation-algorithms-for-image-guided-procedures-springer-tracts-in-advanced-robotics-paperback-book&class=scaled&v=1408469908)