Minimization of tool tracking error using fulcrum correction in minimally invasive interventions: application to prostate biopsy procedure. - Derek Cool; Shi Sherebrin; Jonathan Izawa; Terence M. Peters; Aaron Fenster (Image-Guided Procedures, 2006)

Development of a 3D ultrasound-guided prostate biopsy system. - Derek W. Cool; Shi Sherebrin; Jonathan Izawa; Aaron Fenster (Image-Guided Procedures, 2007)

Mechanically assisted 3D prostate ultrasound imaging and biopsy needle-guidance system. - Jeffrey S. Bax; Jackie Williams; Derek W. Cool; Lori Gardi; Jacques Montreuil; Vaishali V. Karnik; Shi Sherebrin; Cesare Romagnoli; Aaron Fenster (Image-Guided Procedures, 2010)