A Robotic System for Transrectal Needle Insertion into the Prostate with Integrated Ultrasound. - Chad M. Schneider; Allison M. Okamura; Gabor Fichtinger (ICRA, 2004)

A Velocity-Dependent Model for Needle Insertion in Soft Tissue. - Jessica R. Crouch; Chad M. Schneider; Joshua Wainer; Allison M. Okamura (MICCAI (2), 2005)