The following publications are possibly variants of this publication:
- 3D Motion Planning Algorithms for Steerable Needles Using Inverse KinematicsVincent Duindam, Jijie Xu, Ron Alterovitz, Shankar Sastry, Kenneth Y. Goldberg. wafr 2009: 535-549 [doi]
- Needle path planning and steering in a three-dimensional non-static environment using two-dimensional ultrasound imagesGustaaf J. Vrooijink, Momen Abayazid, Sachin Patil, Ron Alterovitz, Sarthak Misra. ijrr, 33(10):1361-1374, 2014. [doi]
- Resolution-Optimal Motion Planning for Steerable NeedlesMengyu Fu, Kiril Solovey, Oren Salzman, Ron Alterovitz. icra 2022: 9652-9659 [doi]
- Toward Certifiable Motion Planning for Medical Steerable NeedlesMengyu Fu, Oren Salzman, Ron Alterovitz. rss 2021: [doi]