The patological object which have to be processed by gamma knife radiosurgery
Robot motion planning and some of its applications in radiotherapy Antony T. Popov Faculty of Mathematics and Informatics, St. Kliment Ohridski University of Sofia, 5, J. Bourchier Blvd., 1164 Sofia, Bulgaria tel/fax: +359 2 8 687 180 e-mail: atpopov@fmi.uni-sofia.bg.
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