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Robotically assisted prostate brachytherapy with transrectal ultrasound guidance–Phantom experiments. Brachytherapy. 5, 14–26.(2006).
Robotically Assisted Prostate Biopsy And Therapy With Intra-Operative CT Guidance. Journal of Academic Radiology. 9 no 1, 60-74.(2002).
Precision placement of instruments for minimally invasive procedures using a "needle driver" robot. international journal of medical robotics computer assisted surgery MRCAS. 1, 40–47.(2005).
CT-Guided Robotic Prostate Biopsy. 18th World Congress on Endourology & SWL.(2000).