3D Steerable Biopsy Needle with a Motorized Manipulation System and Ultrasound Tracking to Navigate inside Tissue. - Blayton Padasdao; Zahra Khashei Varnamkhasti; Bardia Konh (J. Medical Robotics Res., 2021)

Toward a Telescopic Steerable Robotic Needle for Minimally Invasive Tissue Biopsy. - Boshen Qi; Ziqing Yu; Zahra Khashei Varnamkhasti; Yizhi Zhou; Jun Sheng (IEEE Robotics Autom. Lett., 2021)