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Image overlay for CT-guided needle insertions. Journal of Computer Aided Surgery. 10, 241–255.(2005).
MRI image overlay: application to arthrography needle insertion. Journal of Computer Aided Surgery. 12, 2–14.(2007).
Precision placement of instruments for minimally invasive procedures using a "needle driver" robot. international journal of medical robotics computer assisted surgery MRCAS. 1, 40–47.(2005).
Robot-assisted needle placement in open-MRI: system architecture, integration and validation. Studies in health technology and informatics. 119, 126–131.(2006).
Robotic assistance for ultrasound-guided prostate brachytherapy. Medical Image Analysis. 12, 535.(2008).
Robotically assisted prostate brachytherapy with transrectal ultrasound guidance–Phantom experiments. Brachytherapy. 5, 14–26.(2006).
System for robotically assisted percutaneous procedures with computed tomography guidance. Journal of Computer Aided Surgery. 6, 370–383.(2001).
Towards detecting surgical clips in 3D ultrasound for target localization in radiation therapy: a study on tissue phantoms. International Conference of the IEEE Engineering in Medicine and Biology Society. 2008, 5282–5285.(2008).
Transrectal prostate biopsy and fiducial marker placement in a standard 1 5T magnetic resonance imaging scanner. The Journal of Urology. 175, 113–120.(2006).
Virtual remote center of motion control for needle placement robots. Journal of Computer Aided Surgery. 9, 175–183.(2003).