@article {Fischer2008b,
	title = {MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement},
	journal = {IEEE/ASME Transactions on Mechatronics},
	volume = {13},
	number = {3},
	year = {2008},
	month = {June},
	pages = {295{\textendash}305},
	doi = {10 1109/TMECH 2008 924044},
	author = {Gregory Fischer and Iulian Iordachita and Csaba Csoma and Junichi Tokuda and Simon DiMaio and Clare M Tempany and Nobuhiko Hata and Gabor Fichtinger}
}
