New real-time MR image-guided surgical robotic system for minimally invasive precision surgery. - Makoto Hashizume; Takefumi Yasunaga; Kazuo Tanoue; Satoshi Ieiri; Kozo Konishi; Kousuke Kishi; H. Nakamoto; D. Ikeda; Ichiro Sakuma; Masakatsu G. Fujie; Takeyoshi Dohi (Int. J. Comput. Assist. Radiol. Surg., 2008)