Deformation-as-control for a biologically inspired steerable needle. - Fangde Liu; Christopher Burrows 001; Ferdinando Rodriguez y Baena (ROBIO, 2013)

Tissue motion due to needle deflection. - Alexander Leibinger; Christopher Burrows 001; Matthew J. Oldfield; Ferdinando Rodriguez y Baena (EMBC, 2015)

Smooth on-line path planning for needle steering with non-linear constraints. - Christopher Burrows 001; Fangde Liu; Ferdinando Rodriguez y Baena (IROS, 2015)

Cyclic Motion Control for Programmable Bevel-Tip Needles to Reduce Tissue Deformation. - Eloise Matheson; Riccardo Secoli; Christopher Burrows 001; Alexander Leibinger; Ferdinando Rodriguez y Baena (J. Medical Robotics Res., 2019)