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).
System for robotically assisted percutaneous procedures with computed tomography guidance. Journal of Computer Aided Surgery. 6, 370–383.(2001).
An Image Overlay System with Enhanced Reality for Percutaneous Therapy Performed Inside CT Scanner. Lecture Notes in Computer Science Medical Image Computing and Computer-Assisted Intervention (MICCAI). 2489, 77-84.(2002).
Robotically Assisted Prostate Biopsy And Therapy With Intra-Operative CT Guidance. Journal of Academic Radiology. 9 no 1, 60-74.(2002).
An Enhanced Reality System for Percutaneous needle placement Therapy inside X-ray CT Scanner. ARCS - Workshop on Augmented Reality in Computer Aided Surgery. 83.(2003).
Needle Insertion in CT Scanner with Image Overlay - Cadaver Studies. Proceedings in Lecture Notes in Computer Science Medical Image Computing and Computer-Assisted Intervention (MICCAI). 3217, 795-803.(2004).
Image overlay for CT-guided needle insertions. Journal of Computer Aided Surgery. 10, 241–255.(2005).
Image overlay guidance for needle insertion in CT scanner. IEEE transactions on biomedical engineering. 52, 1415–1424.(2005).