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  • L. Phee, D. Xiao, J. Yuen, C. F. Chan, H. Ho, C. H. Thng, C. Cheng, W. S. Ng, "Ultrasound guided robotic system for transperineal biopsy of the prostate," IEEE International Conference on Robotics and Automation (ICRA), Page(s): 1315 - 1320, April 18-22, 2005. (05icra-robotic)