@conference {Iordachita2004,
	title = {Controllable motorized devices for accurate percutaneous needle placement in soft tissue target},
	booktitle = {The Eleventh World Congress in Mechanism and Machine Science},
	year = {2004},
	pages = {82-86},
	author = {Iulian Iordachita and Richard Wiard and Gabor Fichtinger and Ichiro Sakuma and Dan Stoianovici}
}
