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Design of a novel MRI compatible manipulator for image guided prostate interventions. IEEE Transactions on Biomedical Engineering. 52, 306–313.(2005).
A preliminary analysis and model of prostate injection distributions. The Prostate. 66, 344–357.(2006).
System for MR image-guided prostate interventions: canine study. Radiology. 228, 886–894.(2003).