Needle insertion and radioactive seed implantation in human tissues: simulation and sensitivity analysis. - Ron Alterovitz; Kenneth Y. Goldberg; Jean Pouliot; Richard Tascherau; I-Chow Hsu (ICRA, 2003)

Sensorless planning for medical needle insertion procedures. - Ron Alterovitz; Ken Goldberg; Jean Pouliot; Richard Tascherau; I-Chow Hsu (IROS, 2003)