Gregory S. Fischer Iulian Iordachita Csaba Csoma Junichi Tokuda Philip Walter Mewes Clare M. Tempany Nobuhiko Hata Gabor Fichtinger Pneumatically operated MRI-compatible needle placement robot for prostate interventions. 2489-2495 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543587 conf/icra/2008 db/conf/icra/icra2008.html#FischerICTMTHF08