Robotic needle steering: Design, modeling, planning, and image guidance

N J Cowan, K Goldberg, G S Chirikjian, G Fichtinger, R Alterovitz, K B Reed, V Kallem, W Park, and S Misra, and A M Okamura, “Robotic needle steering: Design, modeling, planning, and image guidance”, Surgical Robotics – System, Applications, and Visions, J Rosen, B Hannaford, and R Satava (Editors), pages 557-582, Springer, First Edition, December 2010.