Ann Majewicz, Steven P. Marra, Mark G. van Vledder, MingDe Lin, Michael A. Choti, Danny Y. Song, Allison M. Okamura. Behavior of Tip-Steerable Needles in Ex Vivo and In Vivo Tissue. IEEE Trans. Biomed. Engineering, 59(10):2705-2715, 2012. [doi]
Abstract is missing.