Development and preliminary evaluation of an actuated MRI-compatible robotic device for MRI-guided prostate intervention. - Axel Krieger; Iulian Iordachita; Sang-Eun Song; Nathan Bongjoon Cho; Peter Guion; Gabor Fichtinger; Louis L. Whitcomb (ICRA, 2010)

Development of a pneumatic robot for MRI-guided transperineal prostate biopsy and brachytherapy: New approaches. - Sang-Eun Song; Nathan Bongjoon Cho; Gregory S. Fischer; Nobuhiko Hata; Clare M. Tempany; Gabor Fichtinger; Iulian Iordachita (ICRA, 2010)

A study of needle image artifact localization in confirmation imaging of MRI-guided robotic prostate biopsy. - Sang-Eun Song; Nathan Bongjoon Cho; Iulian Iordachita; Peter Guion; Gabor Fichtinger; Louis L. Whitcomb (ICRA, 2011)

Development and preliminary evaluation of an ultrasonic motor actuated needle guide for 3T MRI-guided transperineal prostate interventions. - Sang-Eun Song; Junichi Tokuda; Kemal Tuncali; Clare M. Tempany; Nobuhiko Hata (Image-Guided Procedures, 2012)

Robotic system for MRI-guided prostate biopsy: feasibility of teleoperated needle insertion and ex vivo phantom study. - Reza Seifabadi; Sang-Eun Song; Axel Krieger; Nathan Bongjoon Cho; Junichi Tokuda; Gabor Fichtinger; Iulian Iordachita (Int. J. Comput. Assist. Radiol. Surg., 2012)

Preclinical evaluation of an MRI-compatible pneumatic robot for angulated needle placement in transperineal prostate interventions. - Junichi Tokuda; Sang-Eun Song; Gregory S. Fischer; Iulian Iordachita; Reza Seifabadi; Nathan Bongjoon Cho; Kemal Tuncali; Gabor Fichtinger; Clare M. Tempany; Nobuhiko Hata (Int. J. Comput. Assist. Radiol. Surg., 2012)

Biopsy Needle Artifact Localization in MRI-Guided Robotic Transrectal Prostate Intervention. - Sang-Eun Song; Nathan Bongjoon Cho; Iulian Iordachita; Peter Guion; Gabor Fichtinger; Aradhana Kaushal; Kevin Camphausen; Louis L. Whitcomb (IEEE Trans. Biomed. Eng., 2012)

Towards clinically optimized MRI-guided surgical manipulator for minimally invasive prostate percutaneous interventions: constructive design. - Sohrab Eslami; Gregory S. Fischer; Sang-Eun Song; Junichi Tokuda; Nobuhiko Hata; Clare M. Tempany; Iulian Iordachita (ICRA, 2013)

Design evaluation of a double ring RCM mechanism for robotic needle guidance in MRI-guided liver interventions. - Sang-Eun Song; Junichi Tokuda; Kemal Tuncali; Atsushi Yamada; Meysam Torabi; Nobuhiko Hata (IROS, 2013)

Prototype Design and Phantom Evaluation of a Device for Co-registered MRI/TRUS Imaging of the Prostate. - Andriy Fedorov; Sang-Eun Song; Tina Kapur; Robert Owen; Emily Neubauer Sugar; Paul Nguyen; William M. Wells III; Clare M. Tempany (CLIP, 2013)

Multi-section Continuum Robot for Endoscopic Surgical Clipping of Intracranial Aneurysms. - Takahisa Kato; Ichiro Okumura; Sang-Eun Song; Nobuhiko Hata (MICCAI (1), 2013)

Configurable Automatic Detection and Registration of Fiducial Frames for Device-to-Image Registration in MRI-Guided Prostate Interventions. - Junichi Tokuda; Sang-Eun Song; Kemal Tuncali; Clare M. Tempany; Nobuhiko Hata (MICCAI (3), 2013)

Development and Preliminary Evaluation of a Motorized Needle Guide Template for MRI-Guided Targeted Prostate Biopsy. - Sang-Eun Song; Junichi Tokuda; Kemal Tuncali; Clare M. Tempany; Elizabeth Zhang; Nobuhiko Hata (IEEE Trans. Biomed. Eng., 2013)

Development and evaluation of optical needle depth sensor for percutaneous diagnosis and therapies. - Keryn Palmer; David Alelyunas; Connor M. McCann; Kitaro Yoshimitsu; Takahisa Kato; Sang-Eun Song; Nobuhiko Hata (Image-Guided Procedures, 2014)

Workflow assessment of 3T MRI-guided transperineal targeted prostate biopsy using a robotic needle guidance. - Sang-Eun Song; Kemal Tuncali; Junichi Tokuda; Andriy Fedorov; Tobias Penzkofer; Fiona Fennessy; Clare M. Tempany; Kitaro Yoshimitsu; John Magill; Nobuhiko Hata (Image-Guided Procedures, 2014)

A novel four-wire-driven robotic catheter for radio-frequency ablation treatment. - Kitaro Yoshimitsu; Takahisa Kato; Sang-Eun Song; Nobuhiko Hata (Int. J. Comput. Assist. Radiol. Surg., 2014)

Concept Development of Fixed Geometry Tactile Display using Granular Jamming. - Sakura Sikander; Pradipta Biswas; Pankaj Kulkarni; Christopher Harrington; Neil Chang; Sang-Eun Song (ISMR, 2019)