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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 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).
Robotically Assisted Percutaneous Local Therapy and Biopsy. Workshop proceedings of the Tenth IEEE International Conference of Advance Robotics. 133-151.(2001).
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).