Force-Sensor-Based Estimation of Needle Tip Deflection in Brachytherapy. - Thomas Lehmann 002; Mahdi Tavakoli; Nawaid Usmani; Ronald Sloboda (J. Sensors, 2013)

A virtual sensor for needle deflection estimation during soft-tissue needle insertion. - Thomas Lehmann 002; Carlos Rossa; Nawaid Usmani; Ronald Sloboda; Mahdi Tavakoli (ICRA, 2015)

Needle path control during insertion in soft tissue using a force-sensor-based deflection estimator. - Thomas Lehmann 002; Carlos Rossa; Ronald Sloboda; Nawaid Usmani; Mahdi Tavakoli (AIM, 2016)

Ein softwarebasierter Patientensimulator zur Evaluierung medizinischer Entscheidungssysteme. - Jörn Kretschmer; Bernhard Laufer; Thomas Lehmann 002; Patrick Stehle; Daniel P. Redmond; Knut Möller (Autom., 2016)

A data-driven soft sensor for needle deflection in heterogeneous tissue using just-in-time modelling. - Carlos Rossa; Thomas Lehmann 002; Ronald Sloboda; Nawaid Usmani; Mahdi Tavakoli (Medical Biol. Eng. Comput., 2017)

Human-Machine Collaboration Modalities for Semi-Automated Needle Insertion Into Soft Tissue. - Thomas Lehmann 002; Ronald Sloboda; Nawaid Usmani; Mahdi Tavakoli (IEEE Robotics Autom. Lett., 2018)

Model-Based Needle Steering in Soft Tissue via Lateral Needle Actuation. - Thomas Lehmann 002; Ronald Sloboda; Nawaid Usmani; Mahdi Tavakoli (IEEE Robotics Autom. Lett., 2018)

Intraoperative Tissue Young's Modulus Identification During Needle Insertion Using a Laterally Actuated Needle. - Thomas Lehmann 002; Carlos Rossa; Nawaid Usmani; Ron S. Sloboda; Mahdi Tavakoli (IEEE Trans. Instrum. Meas., 2018)