J. Tokuda

MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement

G.S. Fischer, I. Iordachita, C. Csoma, 2008, IEEE/ASME Transactions on Mechatronics.

MRI compatibility study of a pneumatically actuated robotic system for transperineal prostate needle placement

J. Tokuda, N. Hata, G. Fichtinger, 2010 .

Real-time MR Imaging Controlled by Transperineal Needle Placement Device for MRI-guided Prostate Biopsy and Brachytherapy

C. Csoma, J. Tokuda, N. Hata, 2007 .