IGSTK: framework and example application using an open source toolkit for image-guided surgery applications. - Peng Cheng; Hui Zhang; Hee-su Kim; Kevin Gary; M. Brian Blake; David Gobbi; Stephen R. Aylward; Julien Jomier; Andinet Enquobahrie; Rick Avila; Luis Ibáñez; Kevin Cleary (Image-Guided Procedures, 2006)

Medical needle steering for lung biopsy: Experimental results in tissue phantoms using a robotic needle driver. - Jienan Ding; Dan Stoianovici; Doru Petrisor; Pierre Mozer; Rick Avila; Luis Ibáñez; Wes Turner; David F. Yankelevitz; Emmanuel Wilson; Filip Banovac; Kevin Cleary (BIBE, 2008)

Evaluation of nonholonomic needle steering using a robotic needle driver. - Emmanuel Wilson; Jienan Ding; Craig Carignan; Karthik Krishnan; Rick Avila; Wes Turner; Dan Stoianovici; David F. Yankelevitz; Filip Banovac; Kevin Cleary (Image-Guided Procedures, 2010)