Louis Phee Di Xiao John Yuen Chee Fatt Chan Henry Sun Sien Ho Choon Hua Thng Christopher Wai Sam Cheng Wan Sing Ng Ultrasound Guided Robotic System for Transperineal Biopsy of the Prostate. 1315-1320 2005 conf/icra/2005 ICRA db/conf/icra/icra2005.html#PheeXYCHTCN05 https://doi.org/10.1109/ROBOT.2005.1570297