Catheter tip tracking for MR-guided interventions using discrete Kalman filter and mean shift localization. - Abubakr Eldirdiri; Frédéric Courivaud; Rafael Palomar; Per Kristian Hol; Ole Jakob Elle (Int. J. Comput. Assist. Radiol. Surg., 2014)

An Ultrasound Robotic System Using the Commercial Robot UR5. - Kim Mathiassen; Jørgen Enger Fjellin; Kyrre Glette; Per Kristian Hol; Ole Jakob Elle (Frontiers Robotics AI, 2016)