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

N. Abolhassani, R. Patel, and M. Moallem, Needle insertion into soft tissue: A survey, Medical Engineering & Physics, vol.29, issue.4, pp.413-431, 2007.
DOI : 10.1016/j.medengphy.2006.07.003

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. Yamaguchi, K. Tsutsui, K. Satake, S. Morikawa, Y. Shirai et al., Dynamic analysis of a needle insertion for soft materials: Arbitrary Lagrangian???Eulerian-based three-dimensional finite element analysis, Computers in Biology and Medicine, vol.53, issue.0, pp.42-47, 2014.
DOI : 10.1016/j.compbiomed.2014.07.012

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. Fallahi, M. Khadem, C. Rossa, R. Sloboda, N. Usmani et al., Extended bicycle model for needle steering in soft tissue, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.4375-4380, 2015.
DOI : 10.1109/IROS.2015.7353998

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

Y. Zhou, K. Thiruvalluvan, L. Krzeminski, W. Moore, Z. Xu et al., CT-guided robotic needle biopsy of lung nodules with respiratory motion - experimental system and preliminary test, The International Journal of Medical Robotics and Computer Assisted Surgery, vol.12, issue.6, pp.317-330, 2013.
DOI : 10.1002/rcs.1441

A. Majewicz, J. Siegel, A. Stanley, and A. Okamura, Design and evaluation of duty-cycling steering algorithms for robotically-driven steerable needles, 2014 IEEE International Conference on Robotics and Automation (ICRA), pp.5883-5888, 2014.
DOI : 10.1109/ICRA.2014.6907725

P. Moreira, M. Abayazid, and S. Misra, Towards physiological motion compensation for flexible needle interventions, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.831-836, 2015.
DOI : 10.1109/IROS.2015.7353468

S. Misra, K. Reed, B. W. Schafer, K. Ramesh, and A. Okamura, Observations and models for needle-tissue interactions, 2009 IEEE International Conference on Robotics and Automation, pp.2687-2692, 2009.
DOI : 10.1109/ROBOT.2009.5152721

K. Reed, A. Okamura, and N. 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

S. Julier and J. Uhlmann, New extension of the Kalman filter to nonlinear systems, Signal Processing, Sensor Fusion, and Target Recognition VI, pp.182-193, 1997.
DOI : 10.1117/12.280797

E. Wan and R. Van-der-merwe, The unscented Kalman filter for nonlinear estimation, Proceedings of the IEEE 2000 Adaptive Systems for Signal Processing, Communications, and Control Symposium (Cat. No.00EX373), pp.153-158, 2000.
DOI : 10.1109/ASSPCC.2000.882463

J. Chevrie, A. Krupa, and M. Babel, Needle steering fusing direct base manipulation and tip-based control, 2016 IEEE International Conference on Robotics and Automation (ICRA), pp.4450-4455, 2016.
DOI : 10.1109/ICRA.2016.7487645
URL : https://hal.archives-ouvertes.fr/hal-01304860

X. Pan, J. Gao, S. Tao, K. Liu, J. Bai et al., A two-step optical flow method for strain estimation in elastography: Simulation and phantom study, Ultrasonics, vol.54, issue.4, pp.990-996, 2014.
DOI : 10.1016/j.ultras.2013.11.010