Needle Tip Pose Estimation for Ultrasound-Guided Steerable Flexible Needle With a Complicated Trajectory in Soft Tissue. - Yan-Jiang Zhao; Chao Wen; Yongde Zhang; He Zhang 016 (IEEE Robotics Autom. Lett., 2022)

Structural Design and Puncture Control of Insertion Robot for FBG Embedded Cannula Flexible Needle. - Yan-Jiang Zhao; Ji-Long Lu; Yongde Zhang; He Zhang 016; Yan-Yi Pei (IEEE Access, 2023)

Research on Function Family of Large Bending Model Based on Mechanics for Cannula Flexible Needle. - Yan-Jiang Zhao; Yan-Yi Pei; He Zhang 016; Yin Chen; Ji-Long Lu (IEEE Access, 2024)

Path planning algorithm of steerable flexible needle: A review. - He Zhang 016; Yan-Jiang Zhao; Ye-Xin Jin; Hailong Duan (Expert Syst. Appl., 2025)