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Robot-Assisted Prostate Brachytherapy Videos

• A Hand-Held Assistant for Semi-Automated Percutaneous Needle Steering

• Ride for Dad & Prostate Cancer Fight Foundation -- Thank you video

• A Two-body Rigid/Flexible Model of Needle Steering Dynamics in Soft Tissue

• A Mechanics-based Model for Simulation and Control of Flexible Needle Steering in Soft Tissue

• 3D Needle Shape Visualization from 2D Ultrasound Images using RANSAC

• 3D Needle Shape Estimation in TRUS-Guided Prostate Brachytherapy Using 2D Ultrasound Images

• A Virtual Sensor for Needle Deflection Estimation during Soft-Tissue Needle Insertion

• An Integrator-Backstepping Control Approach for Out-of-Plane Needle Deflection Minimization

• Geometric Control of 3D Needle Steering in Soft Tissue

• Multi-Actuator Haptic Feedback on the Wrist for Needle Steering Guidance in Brachytherapy

• Brachytherapy Needle Steering Guidance Using Image Overlay