@book{DBLP:books/sp/AlterovitzG08,
  author    = {Ron Alterovitz and
               Kenneth Y. Goldberg},
  title     = {Motion Planning in Medicine: Optimization and Simulation
               Algorithms for Image-Guided Procedures},
  publisher = {Springer},
  series    = {Springer Tracts in Advanced Robotics},
  volume    = {50},
  year      = {2008},
  isbn      = {978-3-540-69257-7},
  pages     = {1-113},
  ee        = {http://dx.doi.org/10.1007/978-3-540-69259-1},
  bibsource = {DBLP, http://dblp.uni-trier.de}
}