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)