@article {Tokuda2012a,
	title = {Preclinical evaluation of MRI-compatible pneumatic robot for angulated needle placement in prostate interventions},
	year = {2012},
	month = {2012},
	address = {Pisa, Italy},
	keywords = {angulation, MRI compatiber robot, transprineal},
	author = {Junichi Tokuda and Sam Sang-Eun Song and Gregory Fischer and Iulian Iordachita and Reza Seifabadi and Nathan Bongjoon Cho and Gabor Fichtinger and Clare M Tempany and Nobuhiko Hata}
}
