Precisely shaped acoustic ablation of tumors utilizing steerable needle and 3D ultrasound image guidance. - Emad M. Boctor; Philipp J. Stolka; Hyun-Jae Kang; Clyde Clarke; D. Caleb Rucker; Jordon M. Croom; Everette Clif Burdette; Robert J. Webster III (Image-Guided Procedures, 2010)