Ayob, M. A., W. N. Wan Zakaria, J. Jalani, M. R. Md Tomari, A. A. Muhd Suberi, T. K. Sek, and N. F. Nik Fuad. “Intelligent Approach to Force/Position Control of Ultrasound-Guided Breast Biopsy Robotic System”. Journal of Telecommunication, Electronic and Computer Engineering (JTEC), vol. 9, no. 3-7, Nov. 2017, pp. 73-79, https://jtec.utem.edu.my/jtec/article/view/3078.