Mr-compatible biopsy needle with enhanced tip force sensing. - Santhi Elayaperumal; Jung Hwa Bae; David L. Christensen; Mark R. Cutkosky; Bruce Lewis Daniel; Richard J. Black; Joannes M. Costa; Fereydoun Faridian; Behzad Moslehi (World Haptics, 2013)

Detection of membrane puncture with haptic feedback using a tip-force sensing needle. - Santhi Elayaperumal; Jung Hwa Bae; Bruce Lewis Daniel; Mark R. Cutkosky (IROS, 2014)

Autonomous Real-Time Interventional Scan Plane Control With a 3-D Shape-Sensing Needle. - Santhi Elayaperumal; Juan Camilo Plata; Andrew B. Holbrook; Yong-Lae Park; Kim Butts-Pauly; Bruce Lewis Daniel; Mark R. Cutkosky (IEEE Trans. Medical Imaging, 2014)