@conference {U-Thainual2009a,
	title = {The Perk Station: Systems design for percutaneous intervention training suite},
	booktitle = {Procedings IEEE International Conference on Robotics and Biomimetics ROBIO 2009},
	year = {2009},
	month = {22{\textendash}25 Feb},
	pages = {1693{\textendash}1697},
	address = {Bangkok, Thailand},
	doi = {10 1109/ROBIO 2009 4913256},
	author = {Paweena U-Thainual and Gregory Fischer and Iulian Iordachita and Siddharth Vikal and Gabor Fichtinger}
}
