A MR-compatible tele-robotic system for MRI-guided intervention: system overview and mechanical design. - Cyrus Raoufi; Pinhas Ben-Tzvi; Andrew A. Goldenberg; Walter Kucharczyk (IROS, 2007)

Design and Development of a Control System for a New Hydraulically/Pneumatically Actuated Tele-Robot for MRI-Guided Interventions. - Cyrus Raoufi; Andrew A. Goldenberg; Walter Kucharczyk (ESA, 2008)