Behavior of Tip-Steerable Needles in Ex Vivo and In Vivo Tissue. - Ann Majewicz; Steven P. Marra; Mark G. van Vledder; MingDe Lin; Michael A. Choti; Danny Y. Song; Allison M. Okamura (IEEE Trans. Biomed. Eng., 2012)

Torsional Dynamics of Steerable Needles: Modeling and Fluoroscopic Guidance. - John P. Swensen; MingDe Lin; Allison M. Okamura; Noah J. Cowan (IEEE Trans. Biomed. Eng., 2014)