Robotic System for Transrectal Biopsy of the Prostate Real-Time Guidance Under MRI - Elhawary, H; Tse, ZT-H; Rea, M; Zivanovic, A; Davies, BL; Besant, C; Desouza, NM; Mcrobbie, D; Young, I; Lamperth, MU (IEEE ENGINEERING IN MEDICINE AND BIOLOGY MAGAZINE, 2010)