@article{eslami2016bore,
  title={In-bore prostate transperineal interventions with an MRI-guided parallel manipulator: system development and preliminary evaluation},
  author={Eslami, Sohrab and Shang, Weijian and Li, Gang and Patel, Nirav and Fischer, Gregory S and Tokuda, Junichi and Hata, Nobuhiko and Tempany, Clare M and Iordachita, Iulian},
  journal={The International Journal of Medical Robotics and Computer Assisted Surgery},
  volume={12},
  number={2},
  pages={199--213},
  year={2016}
}

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