@inproceedings{fei1999software,
  title={The software design for a medical robot for urological applications},
  author={Fei, BW and Kwoh, CK and Ng, WS},
  booktitle={Proceedings of the First Joint BMES/EMBS Conference. 1999 IEEE Engineering in Medicine and Biology 21st Annual Conference and the 1999 Annual Fall Meeting of the Biomedical Engineering Society (Cat. N},
  volume={2},
  pages={896--vol},
  year={1999},
  organization={IEEE}
}