Kinematic Modeling of Bevel Tip Flexible Needle. - Yong-de Zhang; Yan-Jiang Zhao (ICIRA (2), 2010)

Development of a coordinated controller for robot-assisted shape memory alloy actuated needle for prostate brachytherapy. - Felix Orlando Maria Joseph; Karly Franz; Yaxin Luan; Yan-Jiang Zhao; Naresh V. Datla; Parsaoran Hutapea; Adam Dicker; Yan Yu; Tarun Kanti Podder (EMBC, 2014)

Path planning for robot-assisted active flexible needle using improved Rapidly-Exploring Random trees. - Yan-Jiang Zhao; Felix Orlando Maria Joseph; Kai Guo Yan; Naresh V. Datla; Yongde Zhang; Tarun Kanti Podder; Parsaoran Hutapea; Adam Dicker; Yan Yu (EMBC, 2014)

Needle Tip Pose Estimation for Ultrasound-Guided Steerable Flexible Needle With a Complicated Trajectory in Soft Tissue. - Yan-Jiang Zhao; Chao Wen; Yongde Zhang; He Zhang (IEEE Robotics Autom. Lett., 2022)

Structural Design and Puncture Control of Insertion Robot for FBG Embedded Cannula Flexible Needle. - Yan-Jiang Zhao; Ji-Long Lu; Yongde Zhang; He Zhang; Yan-Yi Pei (IEEE Access, 2023)

Research on Function Family of Large Bending Model Based on Mechanics for Cannula Flexible Needle. - Yan-Jiang Zhao; Yan-Yi Pei; He Zhang; Yin Chen; Ji-Long Lu (IEEE Access, 2024)

Path planning algorithm of steerable flexible needle: A review. - He Zhang; Yan-Jiang Zhao; Ye-Xin Jin; Hailong Duan (Expert Syst. Appl., 2025)