Hand-Held Steerable Needle Device. - Richelle Ebrahimi; Stephen H. Okazawa; Robert Rohling; Septimiu E. Salcudean (MICCAI (2), 2003)

Methods for segmenting curved needles in ultrasound images. - Stephen H. Okazawa; Richelle Ebrahimi; Jason Chuang; Robert Rohling; Septimiu E. Salcudean (Medical Image Anal., 2006)