@conference {259721,
	title = {Design of a robotic tool for percutaneous instrument distal tip repositioning},
	booktitle = {33rd Annual International Conference of the IEEE EMBS},
	year = {2011},
	month = {30 Aug.-3 Sept.},
	pages = {2097-2100},
	address = {Boston, MA},
	author = {Conor J Walsh and Jeremy C. Franklin and Alexander H. Slocum and Rajiv Gupta}
}
