The following publications are possibly variants of this publication:
- A virtual sensor for needle deflection estimation during soft-tissue needle insertionThomas Lehmann, Carlos Rossa, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli. icra 2015: 1217-1222 [doi]
- Needle path control during insertion in soft tissue using a force-sensor-based deflection estimatorThomas Lehmann, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli. aimech 2016: 1174-1179 [doi]
- Adaptive Quasi-Static Modelling of Needle Deflection During Steering in Soft TissueCarlos Rossa, Mohsen Khadem, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli. ral, 1(2):916-923, 2016. [doi]