@conference {Krieger2004,
	title = {Design of a novel MRI compatible manipulator for image guided prostate intervention},
	booktitle = {Procedings IEEE International Conference on Robotics and Automation ICRA {\textquoteright}04},
	volume = {1},
	year = {2004},
	pages = {377{\textendash}382},
	doi = {10 1109/ROBOT 2004 1307179},
	author = {Axel Krieger and Robert Susil and Gabor Fichtinger and Ergin Atalar and Whitcomb, Louis L.}
}
