@conference {Xu2005a,
	title = {Registration and motion compensation of a needle placement robot for CT-guided spinal procedures},
	booktitle = {Medical Imaging 2005: Visualization, Image-Guided Procedures, and Display},
	volume = {5744},
	number = {1},
	year = {2005},
	pages = {661-669},
	publisher = {SPIE},
	organization = {SPIE},
	doi = {10 1117/12 594731},
	url = {http://link aip org/link/?PSI/5744/661/1},
	author = {Sheng Xu and Kevin Cleary and Dan Stoianovici and Gabor Fichtinger},
	editor = {Robert L. Galloway, Jr. and Kevin Cleary}
}
