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Optical Measurement of Needle Insertion Depth. Procedings First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics BioRob 2006. 799–804.(2006).
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System Architecture and Toolkits for Image-Guided Intervention Systems. Medicine Meets Virtual Reality 14.(2006).
Challenges in image-guided therapy system design. Neuroimage. 37 Suppl 1, S144–S151.(2007).
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Robotic Assistance for Ultrasound Guided Prostate Brachytherapy. The Fourth AdMeTech Foundation Conference: Ending the Era of Blind Cancer Care & Creating a Future of Image-Guided, Minimally Invasive Diagnosis & Treatment.(2007).
Clinical Trials of a Robot Assistant for Ultrasound-Guided Prostate Brachytherapy. Abstract in Minimally Invasive Therapy, 20th International Conference of the Society for Medical Innovation and Technology (SMIT). 14, 213.(2008).
Robotic Assistance for Ultrasound Guided Prostate Brachytherapy. Workshop on Clinical Image-Guided Therapy: Opportunities and Needs.(2008).
Robotic assistance for ultrasound-guided prostate brachytherapy. Medical Image Analysis. 12, 535.(2008).
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A robotic system for [sup 18]F-FMISO PET-guided intratumoral pO[sub 2] measurements. Medical Physics. 36, 5301-5309.(2009).
Robotic needle guide for prostate brachytherapy: Clinical testing of feasibility and performance. Brachytherapy. 10, 57 - 63.(2011).