Design and Validation of a Robotic Needle Positioning System for Small Animal Imaging Applications. - Adam C. Waspe; Jason H. Cakiroglu; James C. Lacefield; Aaron Fenster (EMBC, 2006)

A device for real-time measurement of catheter-motion and input to a catheter navigation system. - Yogesh Thakur; Jason H. Cakiroglu; David W. Holdsworth; Maria Drangova (Image-Guided Procedures, 2007)