02. Needle Insertion Manipulator

A: Liver

C: Breast

J004. “Development of an Integrated Needle Insertion System with Image Guidance and Deformation Simulation”, International Journal of Computerized Medical Imaging and Graphics (CMIG), Vol.34, No.1, pp. 9-18, 2010, http://www.sciencedirect.com/science/article/pii/S0895611109001098

B: Blood vessel

J35. "Preloading based needle insertion with a concave probe to enhance targeting in breast tissue", ROBOMECH Journal, 1:17, 2014, http://www.robomechjournal.com/content/1/1/17/abstract

J020. “Use of Puncture Force Measurement to Investigate the Conditions of Blood Vessel Needle Insertion”, Medical Engineering & Physics, 35(5):684-9, 2013, http://www.sciencedirect.com/science/article/pii/S1350453312003311

J011. “Development of a Needle Insertion Manipulator for Central Venous Catheterization”, International Journal of Medical Robotics and Computer Assisted Surgery, 8(1):34-44, 2011, http://onlinelibrary.wiley.com/doi/10.1002/rcs.420/abstract

J036. "Preliminary in vivo evaluation of a needle insertion manipulator for central venous catheterization", ROBOMECH Journal, 1:18, 2014 : http://www.robomechjournal.com/content/1/1/18