Design and Validation of a Robotic Needle Positioning System for Small Animal Imaging Applications. - Adam C. Waspe; Jason H. Cakiroglu; James C. Lacefield; Aaron Fenster (EMBC, 2006)

Registration of Three-Dimensional High-Frequency Ultrasound Images to a Robotic Needle-Positioning System for Pre-Clinical Research. - Adam C. Waspe; James C. Lacefield; Aaron Fenster (ISBI, 2007)

Co-registration of a needle-positioning device with a volumetric x-ray micro-computed tomography scanner for image-guided preclinical interventions. - Adam C. Waspe; David W. Holdsworth; James C. Lacefield; Aaron Fenster (ISBI, 2008)

Registration of a needle-positioning robot to high-resolution 3D ultrasound and computed tomography for image-guided interventions in small animals. - Adam C. Waspe; James C. Lacefield; David W. Holdsworth; Aaron Fenster (Image-Guided Procedures, 2008)