Towards Water-Jet Steerable Needles. - Mahdieh Babaiasl; Fan Yang 101; John P. Swensen (BioRob, 2018)

Predicting Depth of Cut of Water-jet in Soft Tissue Simulants based on Finite Element Analysis with the Application to Fracture-directed Water-jet Steerable Needles. - Mahdieh Babaiasl; Fan Yang 101; Yao Chen; Jow-Lian Ding; John P. Swensen (ISMR, 2019)

Fracture-Directed Steerable Needles. - Fan Yang 101; Mahdieh Babaiasl; John P. Swensen (J. Medical Robotics Res., 2019)

Fracture-directed Waterjet Needle Steering: Design, Modeling, and Path Planning. - Mahdieh Babaiasl; Fan Yang 101; Stefano Boccelli; John P. Swensen (BioRob, 2020)

Resultant Radius of Curvature of Stylet-and-Tube Steerable Needles Based on the Mechanical Properties of the Soft Tissue, and the Needle. - Fan Yang 101; Mahdieh Babaiasl; Yao Chen; Jow-Lian Ding; John P. Swensen (IROS, 2020)

Duty Cycling of Waterjet Can Improve Steerability and Radius-of-Curvature (ROC) for Waterjet Steerable Needles. - Mahdieh Babaiasl; Fan Yang 101; John P. Swensen (ISMR, 2020)

Predictive mechanics-based model for depth of cut (DOC) of waterjet in soft tissue for waterjet-assisted medical applications. - Mahdieh Babaiasl; Stefano Boccelli; Yao Chen; Fan Yang 101; Jow-Lian Ding; John P. Swensen (Medical Biol. Eng. Comput., 2020)

Robotic needle steering: state-of-the-art and research challenges. - Mahdieh Babaiasl; Fan Yang 101; John P. Swensen (Intell. Serv. Robotics, 2022)