Image-guided robotic system for radiofrequency ablation of large liver tumor with single incision. - Bin Duan; Rong Wen; Chin-Boon Chng; Weiming Wang 002; Ping Liu; Jing Qin 001; Jonnathan Libao Peneyra; Stephen Kin Yong Chang; Pheng-Ann Heng; Chee-Kong Chui (URAI, 2015)