@article{wang2020ultrasound,
  title = {Ultrasound-guided wireless tubular robotic anchoring system},
  journal = {IEEE Robotics and Automation Letters},
  volume = {5},
  number = {3},
  pages = {4859-4866},
  publisher = {IEEE},
  year = {2020},
  author = {Wang, Tianlu and Hu, Wenqi and Ren, Ziyu and Sitti, Metin},
  doi = {10.1109/LRA.2020.3003868},
  url = {https://ieeexplore.ieee.org/abstract/document/9121662}
}