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CT-Guided Robotic Prostate Biopsy. 18th World Congress on Endourology & SWL.(2000).
Robotically Assisted Percutaneous Local Therapy and Biopsy. Workshop proceedings of the Tenth IEEE International Conference of Advance Robotics. 133-151.(2001).
Robotically Assisted Prostate Biopsy And Therapy With Intra-Operative CT Guidance. Journal of Academic Radiology. 9 no 1, 60-74.(2002).
System for robotically assisted percutaneous procedures with computed tomography guidance. Journal of Computer Aided Surgery. 6, 370–383.(2001).