Compliant Joint Based Robotic Ultrasound Scanning System for Imaging Human Spine. - Yunjiang Wang; Tianjian Liu; Xinben Hu; Keji Yang; Yongjian Zhu; Haoran Jin (IEEE Robotics Autom. Lett., 2023)

Ultrasound Robotic System to Multi-Approach Puncture for Endoscopic Spinal Surgery. - Xuan Xiao; Lin Chen; Xinben Hu; Yunjiang Wang; Abhishek Saini; Tianjian Liu; Keji Yang; Yongjian Zhu; Haoran Jin (IEEE Robotics Autom. Lett., 2024)