Needle insertion with duty-cycled rotation into multiple media. - Craig A. Lehocky; Cameron N. Riviere (EMBC, 2012)

Efficient 3D Control for Needle Steering using Duty-cycled Rotation. - Xiao Li; Craig A. Lehocky; Cameron N. Riviere (ICINCO (2), 2013)

Algorithm for three-dimensional control of needle steering via duty-cycled rotation. - Nathan A. Wood; Craig A. Lehocky; Cameron N. Riviere (ICM, 2013)

Automatic Steering of Manually Inserted Needles. - Guofan Wu; Xiao Li; Craig A. Lehocky; Cameron N. Riviere (SMC, 2013)

Hyper- and viscoelastic modeling of needle and brain tissue interaction. - Craig A. Lehocky; Yixing Shi; Cameron N. Riviere (EMBC, 2014)