The MIRIAM Robot: A Novel Robotic System for MR-Guided Needle Insertion in the Prostate. - Pedro Moreira; Gert van de Steeg; Thijs Krabben; Jonathan Zandman; Edsko E. G. Hekman; Ferdinand van der Heijden; Ronald Borra; Sarthak Misra (J. Medical Robotics Res., 2017)