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[Fichtinger2006] "Robotically assisted prostate brachytherapy with transrectal ultrasound guidance–Phantom experiments", Brachytherapy, vol. 5, no. 1: Engineering Research Center, The Johns Hopkins University, Baltimore, MD 21218-2682, USA gabor@cs jhu edu, pp. 14–26, 2006.
[Fichtinger2002] "Robotically Assisted Prostate Biopsy And Therapy With Intra-Operative CT Guidance", Journal of Academic Radiology, vol. 9 no 1, pp. 60-74, 2002.
[Cleary2005] "Precision placement of instruments for minimally invasive procedures using a "needle driver" robot", international journal of medical robotics computer assisted surgery MRCAS, vol. 1, no. 2: Division of Computer Aided Interventions, Medical Robotics (CAIMR), Imaging Science, Information Systems (ISIS) Center, Department of Radiology, Georgetown University Medical Center, Washington, DC, USA cleary@georgetown edu, pp. 40–47, Jan, 2005.