Towards a teleoperated needle driver robot with haptic feedback for RFA of breast tumors under continuous MRI. - Rebecca Kokes; Kevin Lister; Rao P. Gullapalli; Bao Zhang; Alan MacMillan; Howard Richard; Jaydev P. Desai (Medical Image Anal., 2009)

Towards the Development of a Master-Slave Surgical System for Breast Biopsy under Continuous MRI. - Bo Yang; U-Xuan Tan; Alan MacMillan; Rao P. Gullapalli; Jaydev P. Desai (ISER, 2012)