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- Backward Planning for a Multi-Stage Steerable Needle Lung RobotJanine Hoelscher, Mengyu Fu, Inbar Fried, Maxwell Emerson, Tayfun Efe Ertop, Margaret Rox, Alan Kuntz, Jason A. Akulian, Robert J. Webster III, Ron Alterovitz. ral, 6(2):3987-3994, 2021. [doi]
- Robot-Assisted Needle SteeringKyle B. Reed, Ann Majewicz, Vinutha Kallem, Ron Alterovitz, Kenneth Y. Goldberg, Noah J. Cowan, Allison M. Okamura. ram, 18(4):35-46, 2011. [doi]
- Motion planning for a three-stage multilumen transoral lung access systemAlan Kuntz, Luis G. Torres, Richard H. Feins, Robert J. Webster III, Ron Alterovitz. iros 2015: 3255-3261 [doi]