Needle deflection prediction using adaptive slope model. - Éderson Antônio Gomes Dorilêo; Nabil Zemiti; Philippe Poignet (ICAR, 2015)

Simplified adaptive path planning for percutaneous needle insertions. - Éderson Antônio Gomes Dorilêo; Abdulrahman Albakri; Nabil Zemiti; Philippe Poignet (ICRA, 2015)

Needle modeling, insertion planning and steering for CT or MR image-guided robot-driven percutaneous procedures. (Modélisation, planification et guidage d'aiguille pour les procédures percutanées robotisées sous imagerie SCANNER ou IRM). - Éderson Antônio Gomes Dorilêo (2015)