@article {259616, title = {A Patient-Mounted, Telerobotic Tool for CT-Guided Percutaneous Interventions}, journal = {ASME Journal of Medical Devices}, volume = {2}, number = {1}, year = {2008}, author = {Conor J Walsh and Nevan C. Hanumara and Alexander H. Slocum and Jo-Anne Shepard and Rajiv Gupta} }