@conference {Boctor2004e,
	title = {Robotically assisted ablative treatment guided by freehand 3D ultrasound},
	booktitle = {Conference of Computer Assisted Radiology and Surgery (CARS)},
	year = {2004},
	pages = {503-508},
	author = {Emad Boctor and Robert Webster and Michael Choti and Russell H. Taylor and Gabor Fichtinger}
}
