BibTex format
@article{Tse:2012:10.1109/TMECH.2011.2113187,
author = {Tse, ZTH and Elhawary, H and Rea, M and Davies, B and Young, I and Lamperth, M},
doi = {10.1109/TMECH.2011.2113187},
journal = {IEEE-ASME TRANSACTIONS ON MECHATRONICS},
pages = {183--187},
title = {Haptic Needle Unit for MR-Guided Biopsy and Its Control},
url = {http://dx.doi.org/10.1109/TMECH.2011.2113187},
volume = {17},
year = {2012}
}