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System for robotically assisted percutaneous procedures with computed tomography guidance. Journal of Computer Aided Surgery. 6, 370–383.(2001).
Robotically Assisted Prostate Biopsy And Therapy With Intra-Operative CT Guidance. Journal of Academic Radiology. 9 no 1, 60-74.(2002).
Robotically Assisted Percutaneous Local Therapy and Biopsy. Workshop proceedings of the Tenth IEEE International Conference of Advance Robotics. 133-151.(2001).
Needle Insertion in CT Scanner with Image Overlay - Cadaver Studies. Proceedings in Lecture Notes in Computer Science Medical Image Computing and Computer-Assisted Intervention (MICCAI). 3217, 795-803.(2004).
An Image Overlay System with Enhanced Reality for Percutaneous Therapy Performed Inside CT Scanner. Lecture Notes in Computer Science Medical Image Computing and Computer-Assisted Intervention (MICCAI). 2489, 77-84.(2002).
Image overlay guidance for needle insertion in CT scanner. IEEE transactions on biomedical engineering. 52, 1415–1424.(2005).
Image overlay for CT-guided needle insertions. Journal of Computer Aided Surgery. 10, 241–255.(2005).
An Enhanced Reality System for Percutaneous needle placement Therapy inside X-ray CT Scanner. ARCS - Workshop on Augmented Reality in Computer Aided Surgery. 83.(2003).
CT-Guided Robotic Prostate Biopsy. 18th World Congress on Endourology & SWL.(2000).