3D shape visualization of curved needles in tissue from 2D ultrasound images using RANSAC. - Michael Waine; Carlos Rossa; Ronald Sloboda; Nawaid Usmani; Mahdi Tavakoli (ICRA, 2015)

An integrator-backstepping control approach for out-of-plane needle deflection minimization. - Michael Waine; Carlos Rossa; Nawaid Usmani; Ron Sloboda; Mahdi Tavakoli (AIM, 2016)

Needle Tracking and Deflection Prediction for Robot-Assisted Needle Insertion Using 2D Ultrasound Images. - Michael Waine; Carlos Rossa; Ron Sloboda; Nawaid Usmani; Mahdi Tavakoli (J. Medical Robotics Res., 2016)

Three-Dimensional Needle Shape Estimation in TRUS-Guided Prostate Brachytherapy Using 2-D Ultrasound Images. - Michael Waine; Carlos Rossa; Ron Sloboda; Nawaid Usmani; Mahdi Tavakoli (IEEE J. Biomed. Health Informatics, 2016)