T. K. Adebar, A. Fletcher, and A. Okamura, 3d ultrasoundguided robotic needle steering in biological tissue, Biomedical Engineering IEEE Transactions on, issue.99, pp.1-1, 2014.
DOI : 10.1109/tbme.2014.2334309

URL : https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5545809/pdf

. K. Agl-+-16-]-t, J. D. Adebar, P. F. Greer, G. L. Laeseke, A. M. Hwang et al., Methods for improving the curvature of steerable needles in biological tissue, IEEE Transactions on Biomedical Engineering, vol.63, issue.6, pp.1167-1177, 2016.

. Hsu, Sensorless motion planning for medical needle insertion in deformable tissues, Information Technology in Biomedicine IEEE Transactions on, vol.13, issue.2, pp.217-225, 2009.

M. [. Abayazid, S. Kemp, and . Misra, 3D flexible needle steering in soft-tissue phantoms using Fiber Bragg Grating sensors, 2013 IEEE International Conference on Robotics and Automation, pp.5843-5849, 2013.
DOI : 10.1109/ICRA.2013.6631418

M. D. Patel and . Naish, Robot-assisted lung motion compensation during needle insertion, 2013 IEEE International Conference on Robotics and Automation, pp.1682-1687, 2013.

R. [. Abolhassani, M. Patel, and . 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. [. Abayazid, R. Roesthuis, S. Reilink, and . 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

T. [. Alterovitz, K. Siméon, and . Goldberg, The Stochastic Motion Roadmap: A Sampling Framework for Planning with Markov Motion Uncertainty, Robotics: Science and Systems III, pp.246-253, 2008.
DOI : 10.15607/RSS.2007.III.030

G. M. Abayazid, S. Vrooijink, R. Patil, S. Alterovitz, and . Misra, Experimental evaluation of ultrasound-guided 3D needle steering in biological tissue, International Journal of Computer Assisted Radiology and Surgery, vol.26, issue.10, pp.1-9, 2014.
DOI : 10.1017/CBO9780511546877

B. [. Bernardes, G. A. Adorno, P. Borges, and . Poignet, 3D Robust Online Motion Planning for Steerable Needles in Dynamic Workspaces Using Duty-Cycled Rotation, Journal of Control, Automation and Electrical Systems, vol.25, issue.2, pp.216-227, 2014.
DOI : 10.1177/0278364906065388

. C. Bap-+-11-]-m, B. V. Bernardes, P. Adorno, N. Poignet, G. A. Zemiti et al., Adaptive path planning for steerable needles using duty-cycling, Intelligent Robots and Systems (IROS) IEEE/RSJ International Conference on, pp.2545-2550, 2011.

B. [. Bernardes, P. Adorno, G. A. Poignet, and . 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

D. [. Burgner-kahrs, H. Rucker, and . Choset, Continuum Robots for Medical Applications: A Survey, IEEE Transactions on Robotics, vol.31, issue.6, pp.311261-1280, 2015.
DOI : 10.1109/TRO.2015.2489500

. Blh-+-16-]-m, C. Boushaki, B. Liu, V. Herman, M. Trevillot et al., Optimization of concentric-tube robot design for deep anterior brain tumor surgery, 2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV), pp.1-6, 2016.

]. C. Blryb15, F. Burrows, F. Liu, . Rodriguez, and . Baena, Smooth online path planning for needle steering with non-linear constraints, Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, pp.2653-2658, 2015.

H. Courtecuisse, J. Allard, P. Kerfriden, S. P. Bordas, S. Cotin et al., Real-time simulation of contact BIBLIOGRAPHY and cutting of heterogeneous soft-tissues. Medical Image Analysis Interactive simulation of surgical needle insertion and steering, ACM Trans. Graph, vol.1888, issue.283, pp.394-4101, 2009.

S. [. Chaumette and . Hutchinson, Visual servo control. i. basic approaches. Robotics Automation Magazine, IEEE, vol.13, issue.4, pp.82-90, 2006.
URL : https://hal.archives-ouvertes.fr/inria-00350283

]. S. Chi97 and . Chiaverini, Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators Robotics and Automation, IEEE Transactions on, vol.13, issue.3, pp.398-410, 1997.

D. [. Chapman, A. R. Johnson, and . Bodenham, Visualisation of needle position using ultrasonography, Anaesthesia, vol.151, issue.2, pp.61148-158, 2006.
DOI : 10.1197/S1069-6563(03)00534-7

]. J. Ckb16a, A. Chevrie, M. Krupa, and . Babel, Needle steering fusing direct base manipulation and tip-based control, 2016 IEEE International Conference on Robotics and Automation (ICRA), pp.4450-4455, 2016.

]. J. Ckb16b, A. Chevrie, M. Krupa, and . Babel, Online prediction of needle shape deformation in moving soft tissues from visual feedback, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.2375-2380, 2016.

A. [. Chatelain, M. Krupa, and . Marchal, Real-time needle detection and tracking using a visually servoed 3D ultrasound probe, 2013 IEEE International Conference on Robotics and Automation, pp.1676-1681, 2013.
DOI : 10.1109/ICRA.2013.6630795

URL : https://hal.archives-ouvertes.fr/hal-00821231

A. [. Chatelain, N. Krupa, and . Navab, 3d ultrasoundguided robotic steering of a flexible needle via visual servoing, Robotics and Automation (ICRA), 2015 IEEE International Conference on, pp.2250-2255, 2015.
URL : https://hal.archives-ouvertes.fr/hal-01121224

A. [. Chatelain, N. Krupa, and . Navab, Confidence-driven control of an ultrasound probe: Target-specific acoustic window optimization, 2016 IEEE International Conference on Robotics and Automation (ICRA), pp.3441-3446, 2016.
DOI : 10.1109/ICRA.2016.7487522

URL : https://hal.archives-ouvertes.fr/hal-01274748

. B. Cmc-+-08-]-d, C. F. Camarillo, C. R. Milne, M. R. Carlson, J. K. Zinn et al., Mechanics modeling of tendon-driven continuum manipulators, Trans. Rob, vol.24, issue.6, pp.1262-1273, 2008.

K. [. Chikhaoui, N. Rabenorosoa, and . Andreff, Kinematics and performance analysis of a novel concentric tube robotic structure with embedded soft micro-actuation. Mechanism and Machine Theory, pp.234-254, 2016.

. Kim, Vision-based variable impedance control with oscillation observer for respiratory motion compensation during robotic needle insertion: a preliminary test, The International Journal of Medical Robotics and Computer Assisted Surgery, vol.11, issue.4, pp.502-511

C. Duriez, C. Guébert, M. Marchal, S. Cotin, and L. Grisoni, Interactive Simulation of Flexible Needle Insertions Based on Constraint Models, Medical Image Computing and Computer- Assisted Intervention ? MICCAI 2009, pp.291-299, 2009.
DOI : 10.1007/978-3-642-04271-3_36

URL : https://hal.archives-ouvertes.fr/inria-00540334

J. [. Dupont, B. Lock, E. Itkowitz, and . 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 : https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3022350/pdf

S. [. Dimaio and . Salcudean, Needle insertion modeling and simulation. Robotics and Automation, IEEE Transactions on, vol.19, issue.5, pp.864-875, 2003.

]. S. Ds05a, S. E. Dimaio, and . Salcudean, Interactive simulation of needle insertion models, Biomedical Engineering IEEE Transactions on, vol.52, issue.7, pp.1167-1179, 2005.

]. S. Ds05b, S. E. Dimaio, and . Salcudean, Needle steering and motion planning in soft tissues, Biomedical Engineering IEEE Transactions on, vol.52, issue.6, pp.965-974, 2005.

I. [. Deo and . Walker, Overview of damped least-squares methods for inverse kinematics of robot manipulators, Journal of Intelligent & Robotic Systems, vol.10, issue.2, pp.43-68, 1995.
DOI : 10.1007/BF01254007

. Dxa-+-10-]-v, J. Duindam, R. Xu, S. Alterovitz, K. Sastry et al., Three-dimensional motion planning algorithms for steerable needles using inverse kinematics, The International Journal of Robotics Research, vol.29, issue.7, pp.789-800, 2010.

N. [. Dorileo, P. Zemiti, and . Poignet, Needle deflection prediction using adaptive slope model, 2015 International Conference on Advanced Robotics (ICAR), pp.60-65, 2015.
DOI : 10.1109/ICAR.2015.7251434

URL : https://hal.archives-ouvertes.fr/lirmm-01275351

F. [. Espiau, P. Chaumette, and . Rives, A new approach to visual servoing in robotics, IEEE Transactions on Robotics and Automation, vol.8, issue.3, pp.313-326, 1992.
DOI : 10.1109/70.143350

. J. Egh-+-13-]-a, P. W. Epstein, M. O. Groeneveld, F. Harhay, D. Yang et al., Impact of minimally invasive surgery on medical spending and employee absenteeism, JAMA Surgery, vol.148, issue.7, pp.641-647, 2013.

]. L. Eld82 and . Eldén, A weighted pseudoinverse, generalized singular values, and constrained least squares problems, BIT Numerical Mathematics, vol.22, issue.4, pp.487-502, 1982.

G. [. Engh, D. Podnar, C. N. Kondziolka, and . Riviere, Toward Effective Needle Steering in Brain Tissue, 2006 International Conference of the IEEE Engineering in Medicine and Biology Society, pp.559-562, 2006.
DOI : 10.1109/IEMBS.2006.260167

URL : http://www.ri.cmu.edu/pub_files/pub4/engh_johnathan_a_2006_2/engh_johnathan_a_2006_2.pdf

D. [. Friedland and . Adam, Automatic ventricular cavity boundary detection from sequential ultrasound images using simulated annealing, IEEE Transactions on Medical Imaging, vol.8, issue.4, pp.344-353, 1989.
DOI : 10.1109/42.41487

P. [. Flaishon, H. Ekstein, A. A. Matzkin, and . Weinbroum, An Evaluation of General and Spinal Anesthesia Techniques for Prostate Brachytherapy in a Day Surgery Setting, Anesthesia & Analgesia, vol.101, issue.6, pp.1656-1658, 2005.
DOI : 10.1213/01.ANE.0000184205.43759.55

]. B. Fkr-+-15, M. Fallahi, C. Khadem, R. Rossa, N. Sloboda et al., Extended bicycle model for needle steering in soft tissue, Intelligent Robots and Sys- BIBLIOGRAPHY tems (IROS) IEEE/RSJ International Conference on, pp.4375-4380, 2015.

]. B. Frs-+-16, C. Fallahi, R. S. Rossa, N. Sloboda, M. Usmani et al., Sliding-based switching control for imageguided needle steering in soft tissue, IEEE Robotics and Automation Letters, vol.1, issue.2, pp.860-867, 2016.

. D. Gbs-+-01-]-p, J. C. Grimm, J. E. Blasko, R. M. Sylvester, W. Meier et al., 10-year biochemical (prostate-specific antigen ) control of prostate cancer with <sup>125</sup>i brachytherapy, International Journal of Radiation Oncology Biology Physics, vol.51, issue.1, pp.31-40, 2001.

D. [. Gassert, H. Chapuis, E. Bleuler, and . Burdet, Sensors for Applications in Magnetic Resonance Environments, IEEE/ASME Transactions on Mechatronics, vol.13, issue.3
DOI : 10.1109/TMECH.2008.924113

E. [. Goksel, S. E. Dehghan, and . Salcudean, Modeling and simulation of flexible needles, Medical Engineering & Physics, vol.31, issue.9, pp.311069-1078, 2009.
DOI : 10.1016/j.medengphy.2009.07.007

+. Ggdm, ]. R. Ginhoux, J. Gangloff, M. De-mathelin, L. Soler et al., Active filtering of physiological motion in robotized surgery using predictive control, IEEE Transactions on Robotics, vol.21, issue.1, pp.67-79, 2005.

]. G. Ggsea14, K. R. Gandaglia, A. Ghani, and . Sood, Effect of minimally invasive surgery on the risk for surgical site infections: Results from the national surgical quality improvement program (nsqip) database, JAMA Surgery, issue.10, pp.1491039-1044, 2014.

J. [. Grant and . Neuberger, Guidelines on the use of liver biopsy in clinical practice, Gut, vol.45, issue.Supplement 4, pp.1-11, 1999.
DOI : 10.1136/gut.45.2008.iv1

M. [. Gill and . Prausnitz, Does Needle Size Matter?, Journal of Diabetes Science and Technology, vol.5, issue.7, pp.725-729, 2007.
DOI : 10.1517/17425247.4.1.63

URL : https://www.ncbi.nlm.nih.gov/pmc/articles/PMC2769648/pdf

M. [. Glozman and . 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

]. J. Gsm-+-07, S. E. Guerrero, J. A. Salcudean, B. A. Mcewen, S. Masri et al., Real-time vessel segmentation and tracking for ultrasound imaging applications, IEEE Transactions on Medical Imaging, vol.26, issue.8, pp.1079-1090, 2007.

K. [. Goksel, S. E. Sapchuk, and . Salcudean, Haptic Simulator for Prostate Brachytherapy with Simulated Needle and Probe Interaction, IEEE Transactions on Haptics, vol.4, issue.3, pp.188-198, 2011.
DOI : 10.1109/TOH.2011.34

]. K. Hac-+-09, R. Hauser, N. Alterovitz, A. M. Chentanez, K. Okamura et al., Feedback control for steering needles through 3d deformable tissue using helical paths Robotics science and systems: online proceedings, p.37, 2009.

M. [. Hungr, J. A. Baumann, J. Long, and . 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

B. [. Horaud, O. Conio, B. Leboulleux, and . Lacolle, An analytic solution for the perspective 4-point problem, Computer Vision and Pattern Recognition Proceedings CVPR '89., IEEE Computer Society Conference on, pp.500-507, 1989.
URL : https://hal.archives-ouvertes.fr/inria-00589990

. Hgg-+-13-]-h, B. Heibel, M. Glocker, M. Groher, N. Pfister et al., Interventional tool tracking using discrete optimization, IEEE Transactions on Medical Imaging, vol.32, issue.3, pp.544-555, 2013.

K. [. Haddadi and . Hashtrudi-zaad, Development of a dynamic model for bevel-tip flexible needle insertion into soft tissues, 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp.7478-7482, 2011.
DOI : 10.1109/IEMBS.2011.6091845

F. [. Hauberg, K. S. Lauze, and . Pedersen, Unscented Kalman Filtering on Riemannian Manifolds, Journal of Mathematical Imaging and Vision, vol.14, issue.1, pp.103-120, 2013.
DOI : 10.1137/0714039

. J. Hmb-+-10-]-e, N. R. Harris, J. C. Miller, J. R. Bamber, P. M. Symonds-tayler et al., Speckle tracking in a phantom and feature-based tracking in liver in the presence of respiratory motion using 4d ultrasound, Physics in Medicine and Biology, issue.12, p.553363, 2010.

G. [. Hatt, V. Ng, and . Parthasarathy, Enhanced needle localization in ultrasound using beam steering and learning-based segmentation. Computerized Medical Imaging and Graphics, 2014.
DOI : 10.1016/j.compmedimag.2014.06.016

]. G. Hou73 and . Hounsfield, Computerized transverse axial scanning (tomography): Part 1. description of system, The British Journal of Radiology, vol.46, issue.552, pp.1016-1022, 1973.

I. [. Hamzé, S. Peterlík, C. Cotin, and . Essert, Preoperative trajectory planning for percutaneous procedures in deformable environments, Computerized Medical Imaging and Graphics, vol.47, issue.10, pp.16-28
DOI : 10.1016/j.compmedimag.2015.10.002

Z. [. Huang and . Zeng, A Review on Real-Time 3D Ultrasound Imaging Technology, BioMed Research International, vol.15, issue.2, pp.6027029-28459067, 2017.
DOI : 10.1016/s0041-624x(02)00103-8

URL : http://doi.org/10.1155/2017/6027029

B. [. Joinié-maurin, J. Bayle, and . Gangloff, Force feedback teleoperation with periodical disturbance compensation, 2011 IEEE International Conference on Robotics and Automation, pp.4828-4833, 2011.
DOI : 10.1109/ICRA.2011.5980496

J. [. Julier and . 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

K. [. Khan, J. Andersson, and . Wikander, Jacobian Matrix Normalization - A Comparison of Different Approaches in the Context of Multi-Objective Optimization of 6-DOF Haptic Devices, Journal of Intelligent & Robotic Systems, vol.40, issue.5, pp.87-100, 2015.
DOI : 10.1109/ICEC.1995.489161

O. [. Kaya and . Bebek, Needle localization using Gabor filtering in 2D ultrasound images, 2014 IEEE International Conference on Robotics and Automation (ICRA), pp.4881-4886, 2014.
DOI : 10.1109/ICRA.2014.6907574

N. [. Kallem and . Cowan, Image Guidance of Flexible Tip-Steerable Needles, IEEE Transactions on Robotics, vol.25, issue.1, pp.191-196, 2009.
DOI : 10.1109/TRO.2008.2010357

URL : https://www.ncbi.nlm.nih.gov/pmc/articles/PMC2860577/pdf

G. [. Krupa, G. D. Fichtinger, and . Hager, Real-Time Tissue Tracking with B-Mode Ultrasound Using Speckle and Visual Servoing, pp.1-8, 2007.
DOI : 10.1007/978-3-540-75759-7_1

URL : https://hal.archives-ouvertes.fr/inria-00350653

G. [. Krupa, G. D. Fichtinger, and . Hager, Real-time Motion Stabilization with B-mode Ultrasound Using Image Speckle Information and Visual Servoing, The International Journal of Robotics Research, vol.26, issue.4, pp.1334-1354, 2009.
DOI : 10.1016/S0301-5629(99)00162-3

URL : https://hal.archives-ouvertes.fr/inria-00436745

. Kfr-+-15-]-m, B. Khadem, C. Fallahi, R. S. Rossa, N. Sloboda et al., A mechanics-based model for simulation and control of flexible needle insertion in soft tissue, Robotics and Automation (ICRA), 2015 IEEE International Conference on, pp.2264-2269, 2015.

]. S. Kfryb11, L. Ko, F. Frasson, . Rodriguez, and . Baena, Closedloop planar motion control of a steerable probe with a "programmable bevel"; inspired by nature, Robotics, IEEE Transactions on, vol.27, issue.5, pp.970-983, 2011.

]. N. Kpm-+-14, O. Kumar, L. Piccin, L. Meylheuc, B. Barbe et al., Design, development and preliminary assessment of a force sensor for robotized medical applications, Advanced Intelligent Mechatronics (AIM) Conference on, pp.1368-1374, 2014.

]. A. Kru14 and . 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, pp.301-307, 2014.

. Kru-+-16-]-m, C. Khadem, N. Rossa, R. S. Usmani, M. Sloboda et al., A two-body rigid/flexible model of needle steering dynamics in soft tissue, IEEE/ASME Transactions on Mechatronics, issue.99, pp.1-1, 2016.

E. [. Kaya, A. Senel, O. Ahmad, and . Bebek, Visual tracking of biopsy needles in 2D ultrasound images, 2016 IEEE International Conference on Robotics and Automation (ICRA), pp.4386-4391, 2016.
DOI : 10.1109/ICRA.2016.7487637

D. [. Kaye, M. Stoianovici, and . Han, Robotic ultrasound and needle guidance for prostate cancer management, Current Opinion in Urology, vol.24, issue.1, pp.75-80, 2014.
DOI : 10.1097/MOU.0000000000000011

URL : https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4000157/pdf

J. [. Kim, H. R. Seo, K. G. Kim, and . Kim, Impedance and admittance control for respiratory-motion compensation during robotic needle insertion - a preliminary test, The International Journal of Medical Robotics and Computer Assisted Surgery, vol.114, issue.4
DOI : 10.1115/1.2897725

]. P. Lau73 and . Lauterbur, Image formation by induced local interactions: Examples employing nuclear magnetic resonance, Nature, vol.242, issue.5394, pp.190-191, 1973.

L. [. Lencioni, M. C. Crocetti, D. Pina, and . Cioni, Percutaneous image-guided radiofrequency ablation of liver tumors, Abdominal Imaging, vol.66, issue.5, pp.547-556, 2009.
DOI : 10.2214/ajr.181.3.1810695

J. [. Lavalle, . Jr, and . Kuffner, Randomized kinodynamic planning, Robotics and Automation Proceedings . 1999 IEEE International Conference on, pp.473-479, 1999.

A. [. Lee and . Krupa, Intensity-based visual servoing for non-rigid motion compensation of soft tissue structures due to physiological motion using 4D ultrasound, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2831-2836, 2011.
DOI : 10.1109/IROS.2011.6094953

URL : https://hal.archives-ouvertes.fr/hal-00639687

. Lkb-+-17-]-g, T. Litjens, B. E. Kooi, A. A. Bejnordi, F. Setio et al., A survey on deep learning in medical image analysis, 2017.

W. [. Lee and . Park, A probability-based path planning method using fuzzy logic, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2978-2984, 2014.
DOI : 10.1109/IROS.2014.6942973

M. [. Moreira, S. Abayazid, and . 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

F. [. Mansard and . 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

URL : http://hal.inria.fr/docs/00/35/05/93/PDF/2007_itro_mansard.pdf

F. [. Marey and . Chaumette, A new large projection operator for the redundancy framework, 2010 IEEE International Conference on Robotics and Automation, pp.3727-3732, 2010.
DOI : 10.1109/ROBOT.2010.5509189

URL : https://hal.archives-ouvertes.fr/inria-00544789

. Mdg-+-05-]-b, C. Maurin, J. Doignon, B. Gangloff, M. Bayle et al., Ctbot: A stereotactic-guided robotic assistant for percutaneous procedures of the abdomen, Proc. SPIE Medical Imaging, pp.241-250, 2005.

J. [. Minhas, M. M. Engh, C. N. Fenske, and . 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

B. Maurin, J. Gangloff, B. Bayle, M. De-mathelin, O. Piccin et al., A Parallel Robotic System with Force Sensors for Percutaneous Procedures Under CT-Guidance, pp.176-183, 2004.
DOI : 10.1007/978-3-540-30136-3_23

K. [. Mathiassen, O. J. Glette, and . Elle, Visual servoing of a medical ultrasound probe for needle insertion, 2016 IEEE International Conference on Robotics and Automation (ICRA), pp.3426-3433, 2016.
DOI : 10.1109/ICRA.2016.7487520

]. A. Mmvv-+-12, S. P. Majewicz, M. G. Marra, M. Van-vledder, M. A. Lin et al., Behavior of tipsteerable needles in ex vivo and in vivo tissue, Biomedical Engineering IEEE Transactions on, issue.10, pp.592705-2715, 2012.

S. [. Moreira, R. Patil, S. Alterovitz, and . 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

URL : https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4517621/pdf

[. Mignon, P. Poignet, and J. Troccaz, Using rotation for steerable needle detection in 3D color-Doppler ultrasound images, 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp.1544-1547, 2015.
DOI : 10.1109/EMBC.2015.7318666

URL : https://hal.archives-ouvertes.fr/hal-01218787

[. Mignon, P. Poignet, and J. Troccaz, Beveled-tip needlesteering using 3d ultrasound, mechanical-based kalman filter and curvilinear roi prediction, 2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV), pp.1-6, 2016.
DOI : 10.1109/icarcv.2016.7838840

URL : https://hal.archives-ouvertes.fr/hal-01455325

B. S. Misra, K. B. Reed, A. S. Douglas, K. T. Ramesh, and A. M. Okamura, Needle-tissue interaction forces for bevel-tip steerable needles, 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, pp.224-231, 2008.
DOI : 10.1109/BIOROB.2008.4762872

URL : https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3196639/pdf

]. S. Mrs-+-09, K. B. Misra, B. W. Reed, K. T. Schafer, A. M. Ramesh et al., Observations and models for needle-tissue interactions, Robotics and Automation, 2009. ICRA '09. IEEE International Conference on, pp.2687-2692, 2009.

]. S. Mrs-+-10, K. B. Misra, B. W. Reed, K. T. Schafer, A. M. Ramesh et al., Mechanics of flexible needles robotically steered through soft tissue, The International Journal of Robotics Research, 2010.

F. [. Marchand, F. Spindler, and . Chaumette, ViSP for visual servoing: a generic software platform with a wide class of robot control skills, IEEE Robotics & Automation Magazine, vol.12, issue.4, pp.40-52, 2005.
DOI : 10.1109/MRA.2005.1577023

URL : https://hal.archives-ouvertes.fr/inria-00351899

N. [. Mallapragada, T. K. Sarkar, and . Podder, Robot-Assisted Real-Time Tumor Manipulation for Breast Biopsy, IEEE Transactions on Robotics, vol.25, issue.2, pp.316-324, 2009.
DOI : 10.1109/TRO.2008.2011418

URL : http://people.vanderbilt.edu/~vishnu.g.mallapragada/Robot_assisted_ICRA.pdf

J. [. Majewicz, A. A. Siegel, A. M. Stanley, and . 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

H. [. Marchand, F. Uchiyama, and . Spindler, Pose Estimation for Augmented Reality: A Hands-On Survey, IEEE Transactions on Visualization and Computer Graphics, vol.22, issue.12, pp.2633-2651, 2016.
DOI : 10.1109/TVCG.2015.2513408

URL : https://hal.archives-ouvertes.fr/hal-01246370

+. Mvdsk, ]. P. Moreira, G. Van-de-steeg, T. Krabben, J. Zandman et al., The miriam robot: A novel robotic system for mr-guided needle insertion in the prostate, Journal of Medical Robotics Research, vol.2, issue.3, p.1750006, 2017.

]. P. Moreira, G. Van-de-steeg, F. Van-der-heijden, J. J. Futterer, and S. Misra, A preliminary evaluation of a flexible needle steering algorithm using magnetic resonance images as feedback Evaluation of robotic needle steering in ex vivo tissue, 5th IEEE RAS EMBS International Conference on Robotics and Automation (ICRA), 2010 IEEE International Conference on, pp.314-319, 2010.

N. [. Moreira, C. Zemiti, P. Liu, and . Poignet, Viscoelastic model based force control for soft tissue interaction and its application in physiological motion compensation, Computer Methods and Programs in Biomedicine, vol.116, issue.2, pp.52-67, 2014.
DOI : 10.1016/j.cmpb.2014.01.017

URL : https://hal.archives-ouvertes.fr/lirmm-00940940

R. [. Neshat and . Patel, Real-time parametric curved needle segmentation in 3D ultrasound images, 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, pp.670-675, 2008.
DOI : 10.1109/BIOROB.2008.4762877

M. [. Neubach and . 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

]. M. Odgryb13, D. Oldfield, G. Dini, F. Giordano, . Rodriguez et al., Detailed finite element modelling of deep needle insertions into a soft tissue phantom using a cohesive approach, Computer Methods in Biomechanics and Biomedical Engineering, vol.16, issue.5, pp.530-543, 2013.

]. S. Oec-+-05, R. Okazawa, J. Ebrahimi, S. E. Chuang, R. Salcudean et al., Hand-held steerable needle device, Mechatronics , IEEE/ASME Transactions on, vol.10, issue.3, pp.285-296, 2005.

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

C. [. Okamura, M. D. Simone, and . Leary, Force Modeling for Needle Insertion Into Soft Tissue, IEEE Transactions on Biomedical Engineering, vol.51, issue.10, pp.511707-1716, 2004.
DOI : 10.1109/TBME.2004.831542

URL : https://haptics.lcsr.jhu.edu/wiki/images/0/0d/Tbme04-okamura.pdf

]. N. Ots79 and . Otsu, A threshold selection method from gray-level histograms, IEEE Transactions on Systems, Man, and Cybernetics, vol.9, issue.1, pp.62-66, 1979.

R. [. Patil and . Alterovitz, Interactive motion planning for steerable needles in 3D environments with obstacles, 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, pp.893-899, 2010.
DOI : 10.1109/BIOROB.2010.5625965

. Pbb-+-09-]-o, L. Piccin, B. Barbé, M. Bayle, A. De-mathelin et al., A force feedback teleoperated needle insertion device for percutaneous procedures, The International Journal of Robotics Research, vol.28, issue.9, pp.1154-1168, 2009.

J. [. Patil, R. J. Burgner, R. Webster, and . 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 : https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4244660/pdf

. L. Ped-+-10-]-y, S. Park, B. Elayaperumal, C. R. Daniel, S. Seok et al., Real-time estimation of 3-d needle shape and deflection for mri-guided interventions, Mechatronics, IEEE/ASME Transactions on, issue.6, pp.15906-915, 2010.

]. R. Pen55 and . Penrose, A generalized inverse for matrices, Mathematical Proceedings of the Cambridge Philosophical Society, vol.51, issue.3, pp.406-413, 1955.

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, pp.4600-4605, 2005.

]. S. Pvdba11, J. Patil, . Van-den, R. Berg, and . Alterovitz, Motion planning under uncertainty in highly deformable environments, Robotics: Science and Systems VII, 2011.

N. A. Patel, T. Van-katwijk, G. Li, P. Moreira, W. Shang et al., Closed-loop asymmetric-tip needle steering under continuous intraoperative MRI guidance, 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp.4869-4874, 2015.
DOI : 10.1109/EMBC.2015.7319484

A. Pourtaherian, S. Zinger, P. H. De-with, H. H. Korsten, and N. Mihajlovic, Gabor-based needle detection and tracking in three-dimensional ultrasound data volumes, 2014 IEEE International Conference on Image Processing (ICIP), pp.3602-3606, 2014.
DOI : 10.1109/ICIP.2014.7025731

M. [. Roesthuis, S. Abayazid, and . Misra, Mechanicsbased model for predicting in-plane needle deflection with multiple bends, Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS EMBS International Conference on, pp.69-74, 2012.
DOI : 10.1109/biorob.2012.6290829

. C. Rdg-+-13-]-d, J. Rucker, H. B. Das, P. J. Gilbert, M. Swaney et al., Sliding mode control of steerable needles, Robotics IEEE Transactions on, vol.29, issue.5, pp.1289-1299, 2013.

A. [. Rocha and . Geraldes, Flexible needles detection in ultrasound images using a multi-layer perceptron network, 5th ISSNIP-IEEE Biosignals and Biorobotics Conference (2014): Biosignals and Robotics for Better and Safer Living (BRC), pp.5-6, 2014.
DOI : 10.1109/BRC.2014.6880999

. B. Rka-+-08-]-k, V. Reed, R. Kallem, K. Alterovitz, A. M. Goldberg et al., Integrated planning and imageguided control for planar needle steering, Biomedical Robotics and Biomechatronics, pp.819-824, 2008.

. B. Rmk-+-11-]-k, A. Reed, V. Majewicz, R. Kallem, K. Alterovitz et al., Robotassisted needle steering, Robotics Automation Magazine, vol.18, issue.4, pp.35-46, 2011.

A. [. Reed, N. J. Okamura, and . 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

P. [. Reusz, J. Sarkany, A. Gal, and . Csomos, Needle-related ultrasound artifacts and their importance in anaesthetic practice, British Journal of Anaesthesia, vol.112, issue.5, pp.794-802, 2014.
DOI : 10.1093/bja/aet585

URL : https://academic.oup.com/bja/article-pdf/112/5/794/763108/aet585.pdf

]. R. Rvdbvddm15, N. J. Roesthuis, J. J. Van-de-berg, S. Van-den-dobbelsteen, and . Misra, Modeling and steering of a novel actuatedtip needle through a soft-tissue simulant using fiber bragg grating sensors, Robotics and Automation (ICRA), 2015 IEEE International Conference on, pp.2283-2289, 2015.

R. [. Sun and . Alterovitz, Motion planning under uncertainty for medical needle steering using optimization in belief space, pp.1775-1781, 2014.

F. [. Seifabadi, I. Aalamifar, G. Iordachita, and . Fichtinger, Toward teleoperated needle steering under continuous MRI guidance for prostate percutaneous interventions, The International Journal of Medical Robotics and Computer Assisted Surgery, vol.12, issue.1, pp.355-369, 2016.
DOI : 10.1186/1532-429X-12-39

]. A. Sba-+-09, P. F. Sodickson, K. P. Baeyens, L. M. Andriole, R. D. Prevedello et al., Recurrent ct, cumulative radiation exposure, and associated radiation-induced cancer risks from ct of adults, Radiology, vol.251, issue.1, pp.175-184, 2009.

J. [. Swaney, H. B. Burgner, R. J. Gilbert, and . Webster, A Flexure-Based Steerable Needle: High Curvature With Reduced Tissue Damage, IEEE Transactions on Biomedical Engineering, vol.60, issue.4, pp.906-909, 2013.
DOI : 10.1109/TBME.2012.2230001

URL : https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3867207/pdf

. E. Sci-+-12-]-s, N. B. Song, I. I. Cho, P. Iordachita, G. Guion et al., Biopsy needle artifact localization in mriguided robotic transrectal prostate intervention, IEEE Transactions on Biomedical Engineering, issue.7, pp.591902-1911, 2012.

B. [. Samson, M. L. Espiau, and . Borgne, Robot Control: The Task Function Approach, 1991.

]. S. Sgs-+-16, E. Shellikeri, R. Girard, J. Setser, A. M. Bao et al., Metal artefact reduction algorithm for correction of bone biopsy needle artefact in paediatric c-arm ct images: a qualitative and quantitative assessment, Clinical Radiology, vol.71, issue.9, pp.925-931, 2016.

E. [. Shahriari, M. Hekman, S. Oudkerk, and . Misra, Design and evaluation of a computed tomography (CT)-compatible needle insertion device using an electromagnetic tracking system and CT images, International Journal of Computer Assisted Radiology and Surgery, vol.20, issue.1, pp.1845-1852, 2015.
DOI : 10.1109/42.932749

N. Shahriari, W. Heerink, T. Van-katwijk, E. Hekman, M. Oudkerk et al., Computed tomography (CT)-compatible remote center of motion needle steering robot: Fusing CT images and electromagnetic sensor data, Medical Engineering & Physics, vol.45, pp.71-77, 2017.
DOI : 10.1016/j.medengphy.2017.04.009

M. [. Swensen, A. M. Lin, N. J. Okamura, and . Cowan, Torsional Dynamics of Steerable Needles: Modeling and Fluoroscopic Guidance, IEEE Transactions on Biomedical Engineering, vol.61, issue.11, pp.612707-2717, 2014.
DOI : 10.1109/TBME.2014.2326161

. J. Smr-+-15-]-p, A. W. Swaney, A. A. Mahoney, E. Remirez, B. I. Lamers et al., Tendons, concentric tubes, and a bevel tip: Three steerable robots in one transoral lung access system, Robotics and Automation (ICRA), 2015 IEEE International Conference on, pp.5378-5383, 2015.

. B. Spb-+-02-]-s, A. Solomon, M. E. Patriciu, L. R. Bohlman, D. Kavoussi et al., Robotically driven interventions: A method of using ct fluoroscopy without radiation exposure to the physician, Radiology, vol.225, issue.1, pp.277-282, 2002.

N. Shahriari, R. J. Roesthuis, N. J. Van-de-berg, J. J. Van-den-dobbelsteen, and S. Misra, Steering an actuatedtip needle in biological tissue: Fusing fbg-sensor data and ultrasound images, 2016 IEEE International Conference on Robotics and Automation (ICRA), pp.4443-4449, 2016.
DOI : 10.1109/icra.2016.7487644

J. [. Siciliano and . Slotine, A general framework for managing multiple tasks in highly redundant robotic systems, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments, pp.1211-1216, 1991.
DOI : 10.1109/ICAR.1991.240390

. Ssk-+-12-]-r, S. E. Seifabadi, A. Song, N. Krieger, J. Cho et al., Robotic system for mriguided prostate biopsy: feasibility of teleoperated needle BIBLIOGRAPHY insertion and ex vivo phantom study, International Journal of Computer Assisted Radiology and Surgery, vol.7, issue.2, pp.181-190, 2012.

. Tha-+-09-]-m, K. Torabi, R. Hauser, V. Alterovitz, K. Duindam et al., Guiding medical needles using single-point tissue manipulation, ICRA '09. IEEE International Conference on, pp.2705-2710, 2009.

D. [. Taylor and . Stoianovici, Medical robotics in computer-integrated surgery, IEEE Transactions on Robotics and Automation, vol.19, issue.5, pp.765-781, 2003.
DOI : 10.1109/TRA.2003.817058

]. D. Tsj-+-13, S. Tenbrinck, X. Schmid, K. Jiang, J. Schäfers et al., Histogram-based optical flow for motion estimation in ultrasound imaging, Journal of Mathematical Imaging and Vision, vol.47, issue.1, pp.138-150, 2013.

T. [. Tang and . Wan, Constraint-Based Soft Tissue Simulation for Virtual Surgical Training, IEEE Transactions on Biomedical Engineering, vol.61, issue.11, pp.612698-2706, 2014.
DOI : 10.1109/TBME.2014.2326009

J. [. Uher?ík, H. Kybic, C. Liebgott, and . Cachard, Model Fitting Using RANSAC for Surgical Tool Localization in 3-D Ultrasound Images, IEEE Transactions on Biomedical Engineering, vol.57, issue.8, pp.1907-1916, 2010.
DOI : 10.1109/TBME.2010.2046416

G. J. Vrooijink, M. Abayazid, S. Patil, R. Alterovitz, and S. Misra, Needle path planning and steering in a three-dimensional non-static environment using two-dimensional ultrasound images, The International Journal of Robotics Research, vol.29, issue.13, pp.1361-1374, 2014.
DOI : 10.1177/0278364910368147

. J. Vdbdjvg-+-17-]-n, T. L. Van-de-berg, D. J. De-jong, J. Van-gerwen, and J. J. Dankelman, Van Den Dobbelsteen. The influence of tip shape on bending force during needle insertion, 2017.

+. Vdbpa, ]. J. Van-den-berg, S. Patil, R. Alterovitz, P. Abbeel et al., Lqg-based planning, sensing, and control of steerable needles

A. Latombe, . Mingc, and . Lin, Algorithmic Foundations of Robotics IX, volume 68 of Springer Tracts in Advanced Robotics, Dankelman, and J. van den Dobbelsteen. Design choices in needle steering?a review, pp.373-389, 2011.

R. Van-der-merwe, N. De-freitas, A. Doucet, and E. Wan, The unscented particle filter, 2000.

]. I. Wal13 and . Walker, Robot strings: Long, thin continuum robots, 2013 IEEE Aerospace Conference, pp.1-12, 2013.

]. P. Wel75 and . Wells, Absorption and dispersion of ultrasound in biological tissue, Ultrasound in medicine & biology, vol.1, issue.4, pp.369-376, 1975.

. Wikc-+-06-]-r, I. Webster, J. Kim, N. Cowan, G. Chirikjian et al., Nonholonomic modeling of needle steering, The International Journal of Robotics Research, vol.25, pp.5-6509, 2006.

B. [. Webster and . Jones, Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review, The International Journal of Robotics Research, vol.24, issue.3, 2010.
DOI : 10.1109/TRO.2008.924266

C. [. Wood, C. N. Lehocky, and . Riviere, Algorithm for three-dimensional control of needle steering via duty-cycled rotation, 2013 IEEE International Conference on Mechatronics (ICM), pp.237-241, 2013.
DOI : 10.1109/ICMECH.2013.6518542

X. [. Wang, J. Li, D. Zheng, and . Sun, Mechanics-based modeling of needle insertion into soft tissue, Advanced Intelligent Mechatronics (AIM), 2013 IEEE/ASME International Conference on, pp.38-43, 2013.

J. [. Webster, A. M. Memisevic, and . Okamura, Design Considerations for Robotic Needle Steering, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp.3588-3594, 2005.
DOI : 10.1109/ROBOT.2005.1570666

J. [. Wild and . Reid, Application of Echo-Ranging Techniques to the Determination of Structure of Biological Tissues, Science, vol.115, issue.2983, pp.226-230, 1952.
DOI : 10.1126/science.115.2983.226

J. [. Webster, N. J. Romano, and . Cowan, Mechanics of Precurved-Tube Continuum Robots, IEEE Transactions on Robotics, vol.25, issue.1, pp.67-78, 2009.
DOI : 10.1109/TRO.2008.2006868

. Wrs-+-16-]-m, C. Waine, R. Rossa, N. Sloboda, M. Usmani et al., Needle tracking and deflection prediction for robot-assisted needle insertion using 2d ultrasound images, Journal of Medical Robotics Research, issue.01, p.11640001, 2016.

R. [. Wan and . 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. Xda-+-09, V. Xu, R. Duindam, J. Alterovitz, J. A. Pouliot et al., Planning fireworks trajectories for steerable medical needles to reduce patient trauma, Intelligent Robots and Systems IROS 2009. IEEE/RSJ International Conference on, pp.4517-4522, 2009.

V. [. Xu, R. Duindam, K. Alterovitz, and . Goldberg, Motion planning for steerable needles in 3d environments with obstacles using rapidly-exploring random trees and backchaining, IEEE International Conference on, pp.41-46, 2008.

]. W. Xwf-+-17, S. J. Xia, M. C. West, J. Finlay, S. Mari et al., Looking beyond the imaging plane: 3d needle tracking with a linear array ultrasound probe, 2017.

. G. Ypv-+-10-]-s, D. P. Yuen, N. V. Perrin, P. J. Vasilyev, R. D. Nido et al., Force tracking with feed-forward motion estimation for beating heart surgery, IEEE Transactions on Robotics, vol.26, issue.5, pp.888-896, 2010.

K. G. Yan, T. Podder, L. Yu, T. I. Liu, C. W. Cheng et al., Flexible needle-tissue interaction modeling with depth-varying mean parameter: Preliminary BIBLIOGRAPHY study, Biomedical Engineering IEEE Transactions on, vol.56, issue.2, pp.255-262, 2009.
DOI : 10.1109/tbme.2007.896586

T. K. Yu, Y. D. Podder, W. S. Zhang, V. Ng, J. Misic et al., Robotic system for prostate brachytherapy, Computer Aided Surgery, vol.12, issue.6, pp.366-370, 2007.
DOI : 10.1118/1.2218061

]. 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.5342-5389, 2014.
DOI : 10.1016/j.compbiomed.2014.07.012

. Zbf-+-08-]-n, I. Zemiti, C. Bricault, B. Fouard, P. Sanchez et al., Lpr: A ct and mr-compatible puncture robot to enhance accuracy and safety of image-guided interventions

]. Y. Ztk-+-13, K. Zhou, L. Thiruvalluvan, W. H. Krzeminski, Z. Moore 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.9, issue.3, pp.317-330, 2013.

R. Random and S. Consensus, RRT rapidly-exploring random tree, pp.71-75