A MR-compatible tele-robotic system for MRI-guided intervention: system overview and mechanical design. - Cyrus Raoufi; Pinhas Ben-Tzvi; Andrew A. Goldenberg; Walter Kucharczyk (IROS, 2007)

Design and Development of a Control System for a New Hydraulically/Pneumatically Actuated Tele-Robot for MRI-Guided Interventions. - Cyrus Raoufi; Andrew A. Goldenberg; Walter Kucharczyk (ESA, 2008)

Robot-assisted MRI-guided prostatic interventions. - Andrew A. Goldenberg; John Trachtenberg; Yang Yi; Robert Weersink; Marshall S. Sussman; Masoom A. Haider; Liang Ma; Walter Kucharczyk (Robotica, 2010)