@conference {Schneider2004,
	title = {A robotic system for transrectal needle insertion into the prostate with integrated ultrasound},
	booktitle = {Procedings IEEE International Conference on Robotics and Automation ICRA {\textquoteright}04},
	volume = {1},
	year = {2004},
	pages = {365{\textendash}370},
	doi = {10 1109/ROBOT 2004 1307177},
	author = {Chad Schneider and Allison Okamura and Gabor Fichtinger}
}
