A mechanics-based model for simulation and control of flexible needle insertion in soft tissue. - Mohsen Khadem; Bita Fallahi; Carlos Rossa; Ron S. Sloboda; Nawaid Usmani; Mahdi Tavakoli (ICRA, 2015)

Extended bicycle model for needle steering in soft tissue. - Bita Fallahi; Mohsen Khadem; Carlos Rossa; Ronald Sloboda; Nawaid Usmani; Mahdi Tavakoli (IROS, 2015)

Partial estimation of needle tip orientation in generalized coordinates in ultrasound image-guided needle insertion. - Bita Fallahi; Carlos Rossa; Ronald Sloboda; Nawaid Usmani; Mahdi Tavakoli (AIM, 2016)

Sliding-Based Switching Control for Image-Guided Needle Steering in Soft Tissue. - Bita Fallahi; Carlos Rossa; Ron S. Sloboda; Nawaid Usmani; Mahdi Tavakoli (IEEE Robotics Autom. Lett., 2016)

Applications of observers in medical robotics. - Bita Fallahi; Ron S. Sloboda; Mahdi Tavakoli (Autom., 2018)

Model Averaging and Input Transformation for 3D Needle Steering. - Bita Fallahi; Ron Sloboda; Nawaid Usmani; Mahdi Tavakoli (J. Medical Robotics Res., 2018)

Image-Guided Observer-Based Control for Needle Steering. - Bita Fallahi; Ronald Sloboda; Nawaid Usmani; Mahdi Tavakoli (IEEE Trans. Control. Syst. Technol., 2020)