BibTex format
@article{Liu:2016:10.1109/LRA.2016.2528292,
author = {Liu, F and Garriga-Casanovas, A and Secoli, R and Baena, FRY},
doi = {10.1109/LRA.2016.2528292},
journal = {IEEE Robotics and Automation Letters},
pages = {601--608},
title = {Fast and adaptive fractal tree-based path planning for programmable bevel tip steerable needles},
url = {http://dx.doi.org/10.1109/LRA.2016.2528292},
volume = {1},
year = {2016}
}