@conference {Boctor2004c,
	title = {A dual-armed robotic system for intraoperative ultrasound guided hepatic ablative therapy: a prospective study},
	booktitle = {Procedings IEEE International Conference on Robotics and Automation ICRA {\textquoteright}04},
	volume = {3},
	year = {2004},
	month = {Apr 26{\textendash}May 1,},
	pages = {2517{\textendash}2522},
	doi = {10 1109/ROBOT 2004 1307440},
	author = {Emad Boctor and Gregory Fischer and Michael Choti and Gabor Fichtinger and Russell H. Taylor}
}
