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 year         = {2011},
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 title        = {Computed tomography (CT)-compatible remote center of motion needle steering robot: Fusing CT images and electromagnetic sensor data},
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 author       = {Wen Sun and Jur van den Berg and Ron Alterovitz},
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 title        = {Stochastic Extended LQR for Optimization-Based Motion Planning Under Uncertaint},
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 doi          = {10.1109/TASE.2016.2517124},
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 author       = {Wen Sun and Sachin Patil and Ron Alterovitz},
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 pages        = {509--525},
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