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3D Segmentation of Curved Needles Using Doppler Ultrasound and Vibration., and . IPCAI, volume 7915 of Lecture Notes in Computer Science, page 61-70. Springer, (2013)Methods for Improving the Curvature of Steerable Needles in Biological Tissue., , , , and . IEEE Trans. Biomed. Engineering, 63 (6): 1167-1177 (2016)Ultrasound-Based Image Guidance for Robot-Assisted Laparoscopic Radical Prostatectomy: Initial in-vivo Results., , , , , , , , , and . IPCAI, volume 7915 of Lecture Notes in Computer Science, page 40-50. Springer, (2013)Remote electromagnetic vibration of steerable needles for imaging in power Doppler ultrasound., , , , and . ICRA, page 2244-2249. IEEE, (2015)3-D Ultrasound-Guided Robotic Needle Steering in Biological Tissue., , and . IEEE Trans. Biomed. Engineering, 61 (12): 2899-2910 (2014)A Robotic System for Intra-operative Trans-Rectal Ultrasound and Ultrasound Elastography in Radical Prostatectomy., , , , , and . IPCAI, volume 6689 of Lecture Notes in Computer Science, page 79-89. Springer, (2011)Real-Time 3D Curved Needle Segmentation Using Combined B-Mode and Power Doppler Ultrasound., , , and . MICCAI (2), volume 8674 of Lecture Notes in Computer Science, page 381-388. Springer, (2014)Registration of 3D Ultrasound Through an Air-Tissue Boundary., , , , , and . IEEE Trans. Med. Imaging, 31 (11): 2133-2142 (2012)Automatic Localization of the da Vinci Surgical Instrument Tips in 3-D Transrectal Ultrasound., , , , and . IEEE Trans. Biomed. Engineering, 60 (9): 2663-2672 (2013)Automatic Detection and Localization of da Vinci Tool Tips in 3D Ultrasound., , , , and . IPCAI, volume 7330 of Lecture Notes in Computer Science, page 22-32. Springer, (2012)