In-Bore Experimental Validation of Active Compensation and Membrane Puncture Detection for Targeted MRI-Guided Robotic Prostate Biopsy. - Marek Wartenberg; Katie Y. Gandomi; Paulo A. W. G. Carvalho; Joseph Schornak; Niravkumar A. Patel; Iulian Iordachita; Clare M. Tempany; Nobuhiko Hata; Junichi Tokuda; Gregory S. Fischer (ISER, 2018)