A Novel Shaft-to-Tissue Force Model for Safer Motion Planning of Steerable Needles. - Michael Bentley; D. Caleb Rucker; Chakravarthy Reddy; Oren Salzman; Alan Kuntz (CoRR, 2021)

Safer Motion Planning of Steerable Needles via a Shaft-to-Tissue Force Model. - Michael Bentley; Caleb Rucker; Chakravarthy Reddy; Oren Salzman; Alan Kuntz (J. Medical Robotics Res., 2023)