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- 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]
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- Autonomous medical needle steering in vivoAlan Kuntz, Maxwell Emerson, Tayfun Efe Ertop, Inbar Fried, Mengyu Fu, Janine Hoelscher, Margaret Rox, Jason A. Akulian, Erin A. Gillaspie, Yueh Z. Lee, Fabien Maldonado, Robert J. Webster III, Ron Alterovitz. scirobotics, 8(82), September 2023. [doi]