A Single Image Registration Method for CT Guided Interventions. - Robert C. Susil; James H. Anderson; Russell H. Taylor (MICCAI, 1999)

Transrectal Prostate Biopsy Inside Closed MRI Scanner with Remote Actuation, under Real-Time Image Guidance. - Gabor Fichtinger; Axel Krieger; Robert C. Susil; Attila Tanács; Louis L. Whitcomb; Ergin Atalar (MICCAI (1), 2002)

Design of a Novel MRI Compatible Manipulator for Image Guided Prostate Intervention. - Axel Krieger; Robert C. Susil; Gabor Fichtinger; Ergin Atalar; Louis L. Whitcomb (ICRA, 2004)

Visualization, Planning, and Monitoring Software for MRI-Guided Prostate Intervention Robot. - Emese Balogh; Anton Deguet; Robert C. Susil; Axel Krieger; Anand Viswanathan; Cynthia Ménard; Jonathan A. Coleman; Gabor Fichtinger (MICCAI (2), 2004)

Design of a novel MRI compatible manipulator for image guided prostate interventions. - Axel Krieger; Robert C. Susil; Cynthia Ménard; Jonathan A. Coleman; Gabor Fichtinger; Ergin Atalar; Louis L. Whitcomb (IEEE Trans. Biomed. Eng., 2005)