Robot for ultrasound-guided prostate imaging and intervention. - Chunwoo Kim; Felix Schäfer; Doyoung Chang; Doru Petrisor; Misop Han; Dan Stoianovici (IROS, 2011)

Ultrasound Probe and Needle-Guide Calibration for Robotic Ultrasound Scanning and Needle Targeting. - Chunwoo Kim; Doyoung Chang; Doru Petrisor; Gregory S. Chirikjian; Misop Han; Dan Stoianovici (IEEE Trans. Biomed. Eng., 2013)

Robotic Transrectal Ultrasound Guided Prostate Biopsy. - Sunghwan Lim; Changhan Jun; Doyoung Chang; Doru Petrisor; Misop Han; Dan Stoianovici (IEEE Trans. Biomed. Eng., 2019)