M. Abayazid, M. Kemp, and S. Misra, 3D flexible needle steering in soft-tissue phantoms using Fiber Bragg Grating sensors, 2013 IEEE International Conference on Robotics and Automation, 2013.
DOI : 10.1109/ICRA.2013.6631418

M. Abayazid, P. Moreira, N. Shahriari, S. Patil, R. Alterovitz et al., Ultrasound-guided three-dimensional needle steering in biological tissue with curved surfaces, Medical Engineering & Physics, vol.37, issue.1, pp.145-150, 2015.
DOI : 10.1016/j.medengphy.2014.10.005
URL : http://europepmc.org/articles/pmc4409936?pdf=render

T. K. Adebar, A. E. Fletcher, and A. M. Okamura, 3-D Ultrasound-Guided Robotic Needle Steering in Biological Tissue, IEEE Transactions on Biomedical Engineering, vol.61, issue.12, pp.2899-2910, 2014.
DOI : 10.1109/TBME.2014.2334309
URL : http://europepmc.org/articles/pmc5545809?pdf=render

T. K. Adebar and A. M. Okamura, Recursive estimation of needle pose for control of 3D-ultrasound-guided robotic needle steering, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, p.2014, 2014.
DOI : 10.1109/IROS.2014.6943170

R. Alterovitz, T. Siméon, and K. Y. Goldberg, The Stochastic Motion Roadmap: A Sampling Framework for Planning with Markov Motion Uncertainty, Robotics: Science and Systems III, 2007.
DOI : 10.15607/RSS.2007.III.030
URL : http://www.cs.unc.edu/~ron/research/papers/Alterovitz2007_RSS.pdf

M. Bernardes, B. V. Adorno, P. Poignet, and G. Borges, Robot-assisted automatic insertion of steerable needles with closed-loop imaging feedback and intraoperative trajectory replanning, Mechatronics, vol.23, issue.6, pp.630-645, 2013.
DOI : 10.1016/j.mechatronics.2013.06.004
URL : https://hal.archives-ouvertes.fr/lirmm-00873832

P. Beigi, R. Rohling, S. E. Salcudean, V. A. Lessoway, and G. C. Ng, Needle Trajectory and Tip Localization in Real-Time 3-D Ultrasound Using a Moving Stylus, Ultrasound in medicine & biology 41, pp.2057-2070, 2015.
DOI : 10.1016/j.ultrasmedbio.2015.03.013

D. Bergin, J. N. Pappas, J. J. Hwang, D. H. Sheafor, and E. K. Paulson, Echogenic Polymer Coating, American Journal of Roentgenology, vol.178, issue.5, pp.1188-1190, 2002.
DOI : 10.2214/ajr.178.5.1781188

P. Chatelain, A. Krupa, and N. Navab, 3D ultrasound-guided robotic steering of a flexible needle via visual servoing, 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015.
DOI : 10.1109/ICRA.2015.7139497
URL : https://hal.archives-ouvertes.fr/hal-01121224

S. Cheung and R. Rohling, Enhancement of needle visibility in ultrasound-guided percutaneous procedures, Ultrasound in Medicine & Biology, vol.30, issue.5, pp.617-624, 2004.
DOI : 10.1016/j.ultrasmedbio.2004.02.001

S. P. Dimaio and S. E. Salcudean, Needle Steering and Model-Based Trajectory Planning, International Conference on Medical Image Computing and Computer-Assisted Intervention, 2003.
DOI : 10.1007/978-3-540-39899-8_5

P. E. Dupont, J. Lock, B. Itkowitz, and E. Butler, Design and Control of Concentric-Tube Robots, IEEE Transactions on Robotics, vol.26, issue.2, pp.209-225, 2010.
DOI : 10.1109/TRO.2009.2035740
URL : http://europepmc.org/articles/pmc3022350?pdf=render

D. Glozman and M. Shoham, Image-Guided Robotic Flexible Needle Steering, IEEE Transactions on Robotics, vol.23, issue.3, pp.459-467, 2007.
DOI : 10.1109/TRO.2007.898972

N. Hungr, M. Baumann, J. A. Long, and J. Troccaz, A 3-D Ultrasound Robotic Prostate Brachytherapy System With Prostate Motion Tracking, IEEE Transactions on Robotics, vol.28, issue.6, pp.1382-1397, 2012.
DOI : 10.1109/TRO.2012.2203051
URL : https://hal.archives-ouvertes.fr/hal-00712854

N. Hungr, J. A. Long, V. Beix, and J. Troccaz, A realistic deformable prostate phantom for multimodal imaging and needle-insertion procedures, Medical Physics, vol.77, issue.3, pp.2031-2041, 2012.
DOI : 10.1118/1.3692179
URL : https://hal.archives-ouvertes.fr/hal-00683905

T. Kamada, R. Yasumura, R. Takao, K. Suga, and Y. Aoyama, A quantitative comparative study of a new echogenic needle for nerve bocks, Anesthesiology, vol.109, p.344, 2008.

S. Y. Ko, L. Frasson, and F. R. Baena, Closed-Loop Planar Motion Control of a Steerable Probe With a ???Programmable Bevel??? Inspired by Nature, IEEE Transactions on Robotics, vol.27, issue.5, pp.27-970, 2011.
DOI : 10.1109/TRO.2011.2159411
URL : http://spiral.imperial.ac.uk/bitstream/10044/1/14200/2/IEEE%20Transactions%20on%20Robotics_27_5_2011.pdf

P. Mignon, P. Poignet, and J. Troccaz, Beveled-tip needle-steering using 3D ultrasound, mechanical-based Kalman filter and curvilinear ROI prediction, 2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV), 2016.
DOI : 10.1109/ICARCV.2016.7838840
URL : https://hal.archives-ouvertes.fr/hal-01455325

Z. Neubach and M. Shoham, Ultrasound-Guided Robot for Flexible Needle Steering, IEEE Transactions on Biomedical Engineering, vol.57, issue.4, pp.799-805, 2010.
DOI : 10.1109/TBME.2009.2030169

S. H. Okazawa, R. Ebrahimi, J. Chuang, R. N. Rohling, and S. E. Salcudean, Methods for segmenting curved needles in ultrasound images, Medical Image Analysis, vol.10, issue.3, pp.330-342, 2006.
DOI : 10.1016/j.media.2006.01.002

W. Park, J. S. Kim, Y. Zhou, N. J. Cowan, A. M. Okamura et al., Diffusion-based motion planning for a nonholonomic flexible needle model, Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on, 2005.

J. W. Park, M. W. Cheon, and M. H. Lee, Phantom study of a new laser-etched needle for improving visibility during ultrasonography-guided lumbar medial branch access with novices Annals of rehabilitation medicine 40, pp.575-582, 2016.

N. A. Patel, T. Van-katwijk, G. Li, P. Moreira, W. Shang et al., Closedloop asymmetric-tip needle steering under continuous intraoperative MRI guidance, 2015 37th Annual International Conference of the IEEE, 2015.
DOI : 10.1109/embc.2015.7319484

S. Patil, J. Burgner, R. J. Webster, and R. Alterovitz, Needle Steering in 3-D Via Rapid Replanning, IEEE Transactions on Robotics, vol.30, issue.4, pp.853-864, 2014.
DOI : 10.1109/TRO.2014.2307633
URL : http://europepmc.org/articles/pmc4244660?pdf=render

K. B. Reed, A. M. Okamura, and N. J. Cowan, Modeling and Control of Needles With Torsional Friction, IEEE Transactions on Biomedical Engineering, vol.56, issue.12, pp.2905-2916, 2009.
DOI : 10.1109/TBME.2009.2029240
URL : http://europepmc.org/articles/pmc2859043?pdf=render

C. Rossa, N. Usmani, R. Sloboda, and M. Tavakoli, A Hand-Held Assistant for Semiautomated Percutaneous Needle Steering, IEEE Transactions on Biomedical Engineering, vol.64, issue.3, pp.637-685, 2017.
DOI : 10.1109/TBME.2016.2565690

C. Rossa and M. Tavakoli, Issues in closed-loop needle steering, Control Engineering Practice, vol.62, pp.55-69, 2017.
DOI : 10.1016/j.conengprac.2017.03.004

D. C. Rucker, J. Das, H. B. Gilbert, P. J. Swaney, M. I. Miga et al., Sliding Mode Control of Steerable Needles, IEEE Transactions on Robotics, vol.29, issue.5, pp.291289-1299, 2013.
DOI : 10.1109/TRO.2013.2271098
URL : http://europepmc.org/articles/pmc4231884?pdf=render

M. G. Strintzis and I. Kokkinidis, Maximum likelihood motion estimation in ultrasound image sequences, IEEE Signal Processing Letters, vol.4, issue.6, pp.156-157, 1997.
DOI : 10.1109/97.586034

R. Tsumura, Y. Takishita, Y. Fukushima, and H. Iwata, Histological evaluation of tissue damage caused by rotational needle insertion, 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2016.
DOI : 10.1109/EMBC.2016.7591879

M. Uhercik, J. Kybic, H. Liebgott, and C. Cachard, Multi-resolution parallel integral projection for fast localization of a straight electrode in 3D ultrasound images Biomedical Imaging: From Nano to Macro, ISBI 2008. 5th IEEE International Symposium On, 2008.

M. Uhercik, J. Kybic, H. Liebgott, and C. Cachard, Model fitting using RANSAC for surgical tool localization in 3-D ultrasound images, IEEE Transactions on Biomedical Engineering, vol.578, pp.1907-1916, 2010.

N. J. Van-de-berg, D. J. Van-gerwen, J. Dankelman, and J. J. Van-den-dobbelsteen, Design Choices in Needle Steering???A Review, IEEE/ASME Transactions on Mechatronics, vol.20, issue.5, pp.202172-2183, 2015.
DOI : 10.1109/TMECH.2014.2365999

R. J. Webster, J. S. Kim, N. J. Cowan, G. S. Chirikjian, and A. M. Okamura, Nonholonomic modeling of needle steering, The International Journal of Robotics Research, vol.25, pp.5-6, 2006.
DOI : 10.1007/11552246_4
URL : http://caesar.me.jhu.edu/wiki/images/a/af/Webster06.pdf

T. R. Wedlick and A. M. Okamura, Characterization of pre-curved needles for steering in tissue, 2009 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2009.
DOI : 10.1109/IEMBS.2009.5333407
URL : http://europepmc.org/articles/pmc2860535?pdf=render

N. A. Wood, K. Shahrour, M. C. Ost, and C. N. Riviere, Needle steering system using dutycycled rotation for percutaneous kidney access, 2010 Annual International Conference of the IEEE, 2010.
DOI : 10.1109/iembs.2010.5626514
URL : http://www.ri.cmu.edu/pub_files/2010/9/EMBC2010_needle.pdf

G. Wu, X. Li, C. A. Lehocky, C. N. Riviere, . Wu et al., Automatic Steering of Manually Inserted Needles, 2013 IEEE International Conference on Systems, Man, and Cybernetics, 2013.
DOI : 10.1109/SMC.2013.257
URL : http://europepmc.org/articles/pmc3989365?pdf=render

J. Xu, V. Duindam, R. Alterovitz, and K. Goldberg, Motion planning for steerable needles in 3D environments with obstacles using rapidly-exploring random trees and backchaining Automation Science and Engineering, 2008.