K. Reed, A. Majewicz, V. Kallem, R. Alterovitz, K. Goldberg et al., Robot-Assisted Needle Steering, IEEE Robotics & Automation Magazine, vol.18, issue.4, pp.35-46, 2011.
DOI : 10.1109/MRA.2011.942997

R. Webster, I. , J. Kim, N. Cowan, G. Chirikjian et al., Nonholonomic Modeling of Needle Steering, The International Journal of Robotics Research, vol.25, issue.5-6, pp.5-6, 2006.
DOI : 10.1177/0278364906065388

S. Dimaio and S. Salcudean, Needle Steering and Motion Planning in Soft Tissues, IEEE Transactions on Biomedical Engineering, vol.52, issue.6, pp.965-974, 2005.
DOI : 10.1109/TBME.2005.846734

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

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

A. Okamura, C. Simone, and M. O. Leary, Force Modeling for Needle Insertion Into Soft Tissue, IEEE Transactions on Biomedical Engineering, vol.51, issue.10, pp.1707-1716, 2004.
DOI : 10.1109/TBME.2004.831542

D. Rucker, J. Das, H. Gilbert, P. Swaney, M. Miga et al., Sliding Mode Control of Steerable Needles, IEEE Transactions on Robotics, vol.29, issue.5, pp.1289-1299, 2013.
DOI : 10.1109/TRO.2013.2271098

K. Hauser, R. Alterovitz, N. Chentanez, A. Okamura, and K. Goldberg, Feedback control for steering needles through 3d deformable tissue using helical paths Robotics science and systems: online proceedings, p.37, 2009.

D. Minhas, J. Engh, M. Fenske, and C. Riviere, Modeling of Needle Steering via Duty-Cycled Spinning, 2007 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp.2756-2759, 2007.
DOI : 10.1109/IEMBS.2007.4352899

S. Patil, J. Burgner, R. 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

P. Moreira, S. Patil, R. Alterovitz, and S. Misra, Needle steering in biological tissue using ultrasound-based online curvature estimation, 2014 IEEE International Conference on Robotics and Automation (ICRA), pp.4368-4373, 2014.
DOI : 10.1109/ICRA.2014.6907495

S. Misra, K. Reed, B. Schafer, K. Ramesh, and A. Okamura, Mechanics of Flexible Needles Robotically Steered through Soft Tissue, The International Journal of Robotics Research, vol.29, issue.13, 2010.
DOI : 10.1177/0278364910369714

M. Abayazid, R. Roesthuis, R. Reilink, and S. Misra, Integrating Deflection Models and Image Feedback for Real-Time Flexible Needle Steering, IEEE Transactions on Robotics, vol.29, issue.2, pp.542-553, 2013.
DOI : 10.1109/TRO.2012.2230991

B. Siciliano and J. Slotine, A general framework for managing multiple tasks in highly redundant robotic systemsRobots in Unstructured Environments', 91 ICAR, Advanced Robotics Fifth International Conference on, pp.1211-1216, 1991.

S. Chiaverini, Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators Robotics and Automation, IEEE Transactions on, vol.13, pp.398-410, 1997.

N. Mansard and F. Chaumette, Task Sequencing for High-Level Sensor-Based Control, IEEE Transactions on Robotics, vol.23, issue.1, pp.60-72, 2007.
DOI : 10.1109/TRO.2006.889487

N. Wood, C. Lehocky, and C. Riviere, Algorithm for threedimensional control of needle steering via duty-cycled rotation, Mechatronics (ICM), 2013 IEEE International Conference on, pp.237-241, 2013.

A. Krupa, A new duty-cycling approach for 3D needle steering allowing the use of the classical visual servoing framework for targeting tasks, 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, pp.301-307, 2014.
DOI : 10.1109/BIOROB.2014.6913793

URL : https://hal.archives-ouvertes.fr/hal-01057951

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), pp.2250-2255, 2015.
DOI : 10.1109/ICRA.2015.7139497

URL : https://hal.archives-ouvertes.fr/hal-01121224