In vitro and in vivo validation of robotic palpation-based needle insertion method for breast tumor treatment. - Maya Hatano; Yo Kobayashi; Ryutaro Hamano; Makiko Suzuki; Yasuyuki Shiraishi; Tomoyuki Yambe; Kozo Konishi; Makoto Hashizume; Masakatsu G. Fujie (ICRA, 2011)