Modeling of Needle Insertion Forces for Robot-Assisted Percutaneous Therapy. - Christina Simone; Allison M. Okamura (ICRA, 2002)

Measurement of the Tip and Friction Force Acting on a Needle during Penetration. - Hiroyuki Kataoka; Toshikatsu Washio; Kiyoyuki Chinzei; Kazuyuki Mizuhara; Christina Simone; Allison M. Okamura (MICCAI (1), 2002)

Robotic needle insertion: effects of friction and needle geometry. - Mark D. O'Leary; Christina Simone; Toshikatsu Washio; Kiyoshi Yoshinaka; Allison M. Okamura (ICRA, 2003)

Force modeling for needle insertion into soft tissue. - Allison M. Okamura; Christina Simone; Mark D. O'Leary (IEEE Trans. Biomed. Eng., 2004)