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Robotically assisted prostate brachytherapy with transrectal ultrasound guidance - Phantom experiments. BRACHYTHERAPY. 2006;5(1):14-26.
Po-topic IV-05: Prostate biopsy and local therapy inside conventional closed mri with robotic assistance - animal studies. ACADEMIC RADIOLOGY. 2003;10(8):955.
System for MR image-guided prostate interventions: Canine study. RADIOLOGY. 2003;228(3):886-894.
Transrectal prostate biopsy inside closed MRI scanner with remote actuation, under real-time image guidance. In: MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION-MICCAI 2002, PT 1. Tokyo: Springer Verlag; 2002. 9. p. 91-98p.