@article{balter2015system,
  author={M. L. Balter and A. I. Chen and T. J. Maguire and M. L. Yarmush}, 
  journal={IEEE Transactions on Robotics}, 
  title={The System Design and Evaluation of a 7-DOF Image-Guided Venipuncture Robot}, 
  year={2015}, 
  volume={31}, 
  number={4}, 
  pages={1044--1053}, 
  doi={10.1109/TRO.2015.2452776}, 
  ISSN={1552-3098}, 
  month={Aug}
}