Robotic needle insertion: effects of friction and needle geometry. - Mark D. O'Leary; Christina Simone; Toshikatsu Washio; Kiyoshi Yoshinaka; Allison M. Okamura (ICRA, 2003)

Force modeling for needle insertion into soft tissue. - Allison M. Okamura; Christina Simone; Mark D. O'Leary (IEEE Trans. Biomed. Eng., 2004)