BibTex format
@article{Yen:2010:10.1243/09544119JEIM606,
author = {Yen, P-L and Davies, BL},
doi = {10.1243/09544119JEIM606},
journal = {PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE},
pages = {623--631},
title = {Active constraint control for image-guided robotic surgery},
url = {http://dx.doi.org/10.1243/09544119JEIM606},
volume = {224},
year = {2010}
}