The following publications are possibly variants of this publication:
- Nonholonomic Modeling of Needle SteeringRobert J. Webster III, Noah J. Cowan, Gregory S. Chirikjian, Allison M. Okamura. iser 2006: 35-44 [doi]
- Nonholonomic Modeling of Needle SteeringRobert J. Webster III, Jin Seob Kim, Noah J. Cowan, Gregory S. Chirikjian, Allison M. Okamura. ijrr, 25(5-6):509-525, 2006. [doi]
- Teleoperation of Steerable NeedlesJoseph M. Romano, Robert J. Webster III, Allison M. Okamura. icra 2007: 934-939 [doi]