@article{wangle2012tmi,
  author = {Lejing Wang and Pascal Fallavollita and Rui Zou and Xin Chen and Simon Weidert and Nassir Navab},
  title = {Closed-form inverse kinematics for interventional C-arm X-ray imaging with six degrees of freedom: modeling and application},
  journal = {IEEE Transactions on Medical Imaging},
  year = {2012}
}

