CT-Guided Robotic Prostate Biopsy. 18th World Congress on Endourology & SWL.(2000).
Robotically Assisted Percutaneous Local Therapy and Biopsy. Workshop proceedings of the Tenth IEEE International Conference of Advance Robotics. 133-151.(2001).
The surgical CAD/CAM paradigm and an implementation for robotically-assisted percutaneous local therapy. Procedings AIPR 2001 30th Applied Imagery Pattern Recognition Workshop. 3–8.(2001).
System for robotically assisted percutaneous procedures with computed tomography guidance. Journal of Computer Aided Surgery. 6, 370–383.(2001).
Robotically Assisted Prostate Biopsy And Therapy With Intra-Operative CT Guidance. Journal of Academic Radiology. 9 no 1, 60-74.(2002).
Controllable motorized devices for accurate percutaneous needle placement in soft tissue target. The Eleventh World Congress in Mechanism and Machine Science. 82-86.(2004).
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).
Registration and motion compensation of a needle placement robot for CT-guided spinal procedures. (Galloway, Jr., R. L., & Cleary K., Ed.).Medical Imaging 2005: Visualization, Image-Guided Procedures, and Display. 5744, 661-669.(2005).
Robotically assisted prostate brachytherapy with transrectal ultrasound guidance–Phantom experiments. Brachytherapy. 5, 14–26.(2006).
Ultrasound-, CT-, MR-Guided Robot-Assisted Interventions. Image Processing in Radiology. 3, 393-409.(2008).