Towards a needle driver robot for radiofrequency ablation of tumors under continuous MRI. - Rebecca Kokes; Kevin Lister; Rao P. Gullapalli; Bao Zhang; Howard Richard; Jaydev P. Desai (ICRA, 2008)

Towards a teleoperated needle driver robot with haptic feedback for RFA of breast tumors under continuous MRI. - Rebecca Kokes; Kevin Lister; Rao P. Gullapalli; Bao Zhang; Alan MacMillan; Howard Richard; Jaydev P. Desai (Medical Image Anal., 2009)