@conference {259991, title = {Towards a Compact Robotically Steerable Thermal Ablation Probe}, booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation}, year = {2012}, month = {14-18 May}, pages = {709-714}, address = {Saint Paul, Minnesota}, author = {Carmen M. Graves and Alexander H. Slocum and Rajiv Gupta and Conor J Walsh} }