Development of a coordinated controller for robot-assisted shape memory alloy actuated needle for prostate brachytherapy. - Felix Orlando Maria Joseph; Karly Franz; Yaxin Luan; Yan-Jiang Zhao; Naresh V. Datla; Parsaoran Hutapea; Adam Dicker; Yan Yu; Tarun Kanti Podder (EMBC, 2014)