Tracking and Characterization of Fragments in a Beating Heart Using 3D Ultrasound for Interventional Guidance. - Paul Thienphrapa; Haytham Elhawary; Bharat Ramachandran; Douglas Stanton; Aleksandra Popovic (MICCAI (1), 2011)

Multiple capture locations for 3D ultrasound-guided robotic retrieval of moving bodies from a beating heart. - Paul Thienphrapa; Bharat Ramachandran; Haytham Elhawary; Russell H. Taylor; Aleksandra Popovic (Image-Guided Procedures, 2012)