@article {Boctor2004d,
	title = {Virtual remote center of motion control for needle placement robots},
	journal = {Journal of Computer Assisted Surgery},
	volume = {9 (5)},
	year = {2004},
	pages = {175-183},
	author = {Emad Boctor and Robert Webster and Herve Mathieu and Allison Okamura and Gabor Fichtinger}
}
