1. Stoianovici D, Cadeddu JA, Demaree RD, Basile SA, Taylor RH, Whitcomb LL, Sharpe WN, Kavoussi LR: An efficient needle injection technique and radiological guidance method for percutaneous procedures. Lecture Notes in Computer Science. 1997; Vol.1205 pp.295-298.
2. Cadeddu JA, Stoianovici D, Chen RN, Moore RG, Kavoussi LR: Stereotactic mechanical percutaneous renal access. Journal of Endourology. Apr 1998; Vol.12(2) pp.121-125.
3. Stoianovici D, Whitcomb LL, Anderson JH, Taylor RH, Kavoussi LR: A modular surgical robotic system for image guided percutaneous procedures. Lecture Notes in Computer Science. 1998; Vol.1496 pp.404-410.
4. Taylor R, Jensen P, Whitcomb L, Barnes A, Kumar R, Stoianovici D, Gupta P, Wang ZX, deJuan E, Kavoussi L: A steady-hand robotic system for microsurgical augmentation. International Journal of Robotics Research. DEC 1999; Vol.18(12) pp.1201-1210.
5. Stoianovici D: Robotic surgery. World Journal of Urology. Sep 2000; Vol.18(4) pp.289-295.
6. Patriciu A, Stoianovici D, Whitcomb LL, Jarrett T, Mazilu D, Stanimir A, Iordachita I, Anderson J, Taylor R, Kavoussi LR: Motion-based robotic instrument targeting under C-Arm fluoroscopy. Lecture Notes in Computer Science. 2000; Vol.1935 pp.988-998.
7. Goldberg RP, Mazilu D, Taylor RH, Stoianovici D: A Modular Robotic System for Ultrasound Image Acquisition. Lecture Notes in Computer Science. 2001; Vol.2208 pp.1430-1432.
8. Hernandez DJ, Sinkov VA, Roberts WW, Allaf ME, Patriciu A, Jarrett TW, Kavoussi LR, Stoianovici D: Measurement of bio-impedance with a smart needle to confirm percutaneous kidney access. Journal of Urology. Oct 2001; Vol.166(4) pp.1520-1523.
9. Masamune K, Fichtinger G, Patriciu A, Susil RC, Taylor RH, Kavoussi LR, Anderson JH, Sakuma I, Dohi T, Stoianovici D: System for robotically assisted percutaneous procedures with computed tomography guidance. Computer Aided Surgery. 2001; Vol.6(6) pp.370-383.
10. Patriciu A, Solomon S, Kavoussi LR, Stoianovici D: Robotic Kidney and Spine Percutaneous Procedures Using a New Laser-Based CT Registration Method. Lecture Notes in Computer Science. 2001; Vol.2208 pp.249-258.
11. Stoianovici D: URobotics - Urology Robotics at Johns Hopkins. Computer Aided Surgery. 2001; Vol.6(6) pp.360-369.
12. Roberts WW, Fugita OE, Kavoussi LR, Stoianovici D, Solomon SB: Measurement of needle-tip bioimpedance to facilitate percutaneous access of the urinary and biliary systems. Investigational Radiology. Feb 2002; Vol.37(2) pp.91-94.
13. Cleary K, Clifford M, Stoianovici D, Freedman M, Mun SK, Watson V: Technology improvements for image-guided and minimally invasive spine procedures. IEEE Transactions on Information Technology in Biomedicine. Dec 2002; Vol.6(4) pp.249-261.

14. Cleary K, Stoianovici D, Patriciu A, Mazilu D, Lindisch D, Watson V: Robotically assisted nerve and facet blocks: a cadaveric study. Academic Radiology. Jul 2002; Vol.9(7) pp.821-825.
15. Fichtinger G, DeWeese TL, Patriciu A, Tanacs A, Mazilu D, Anderson JH, Masamune K, Taylor RH, Stoianovici D: System for robotically assisted prostate biopsy and therapy with intraoperative CT guidance. Academic Radiology. Jan 2002; Vol.9(1) pp.60-74.
16. Solomon SB, Patriciu A, Bohlman ME, Kavoussi LR, Stoianovici D: Robotically Driven Interventions: A Method of Using CT Fluoroscopy without Radiation Exposure to the Physician. Radiology. Oct 2002; Vol.225(1) pp.277-282.
17. Stoianovici D: Robotics: Revolutionizing Urologic Surgery. Contemporary Urology, Oct 2002; pp.58-68.
18. Su LM, Stoianovici D, Jarrett TW, Patriciu A, Roberts WW, Cadeddu JA, Ramakumar S, Solomon SB, Kavoussi LR: Robotic percutaneous access to the kidney: comparison with standard manual access. Journal of Endourology. Sep 2002; Vol.16(7) pp.471-475.
19. Bove P, Stoianovici D, Micali S, Patriciu A, Grassi N, Jarrett TW, Vespasiani G, Kavoussi LR: Is telesurgery a new reality? Our experience with laparoscopic and percutaneous procedures. Journal of Endourology. Apr 2003; Vol.17(3) pp.137-142.
20. Netto R, N., Jr., Mitre AI, Lima SV, Fugita OE, Lima ML, Stoianovici D, Patriciu A, Kavoussi LR: Telementoring between Brazil and the United States: Initial Experience. Journal of Endourology. May 2003; Vol.17(4) pp.217-220. [223Kb]
21. Patriciu A, Mazilu D, Petrisor D, Kavoussi LR, Stoianovici D: Automatic Targeting Method and Accuracy Study in Robot Assisted Needle Procedures. Lecture Notes in Computer Science. 2003; Vol.1 pp.124-131.
22. Stoianovici D, Cleary K, Patriciu A, Mazilu D, Stanimir A, Craciunoiu N, Watson V, Kavoussi LR: AcuBot: A Robot for Radiological Interventions. IEEE Transactions on Robotics and Automation. Oct 2003; Vol.19(5) pp.926-930.
23. Taylor RH, Stoianovici D: Medical robotics in computer-integrated surgery. IEEE Transactions on Robotics and Automation. Oct 2003; Vol.19(5) pp.765-781.
24. Cleary K, Watson V, Lindisch D, Taylor R, Fichtinger G, Xu S, White C, Donlon J, Taylor M, Patriciu A, Mazilu D, Stoianovici D: Precision Placement of Instruments for Minimally Invasive Procedures Using a "Needle Driver" Robot. International Journal of Medical Robotics and Computer Assisted Surgery. 15 January 2005; Vol.1(2) pp. 40-47.
25. Cleary K, Zigmundb B, Banovaca F, Whitec C, Stoianovici D: Robotically assisted lung biopsy under CT fluoroscopy: lung cancer screening and phantom study. Computer Assisted Radiology and Surgery. 2005; pp. 740-745.
26. Stoianovici D: Multi-Imager Compatible Actuation Principles in Surgical Robotics. International Journal of Medical Robotics and Computer Assisted Surgery. 15 January 2005; Vol.1(2) pp.86-100.
27. Varkarakis IM, Rais-Bahrami S, Kavoussi LR, Stoianovici D: Robotic surgery and telesurgery in urology. Urology. May 2005; Vol.65(5) pp.840-846. PMCID:15882707
28. Patriciu A, Challacombe B, Dasgupta P, Kavoussi L, Stoianovici D: Robotic Telementoring/Telesurgical System and Randomized Evaluation Study. Engineering in Medicine and Biology Society, 2005. Proceedings of the 27th Annual International Conference of the IEEE. 2005; pp.2167-2170.
29. Patriciu A, Awad M, Solomon SB, Choti M, Mazilu D, Kavoussi L, Stoianovici D: Robotic assisted radio-frequency ablation of liver tumors--randomized patient study. Medical Image Computing and Computer-Assisted Intervention. LNCS-3750. 2005; Vol.8 (Pt 2) pp.526-533; PMCID:16686000.
30. Solomon SB, Patriciu A, Stoianovici DS: Tumor ablation treatment planning coupled to robotic implementation: a feasibility study. Journal of Vascular and Interventional Radiology. May 2006; Vol.17(5) pp.903-907.
31. Mazilu D, Patriciu A, Gruionu L, McAllister M, Ong A, Ellison L, Frimberger D, Fugita O, Kavoussi L, Stoianovici D: Synthetic Torso for Training and Evaluation of Urologic Laparoscopic Skills. Journal of Endourology. May 2006; Vol.20(5) pp.340-345.
32. Muntener M, Ursu D, Patriciu A, Petrisor D, Stoianovici D: Robotic Prostate Surgery. Expert Review of Medical Devices. Sep 2006; Vol.3(5) pp.575-584.
33. Patriciu A, Mazilu D, Bagga H, Petrisor D, Kavoussi L, Stoianovici D: An evaluation method for the mechanical performance of guide-wires and catheters in accessing the upper urinary tract. Medical Engineering and Physics. Oct 24 2006; Vol.29(8) pp.918-922.

34. Challacombe B, Kavoussi L, Patriciu A, Stoianovici D, Dasgupta P: Technology insight: telementoring and telesurgery in urology. Nature - Clinical Practice Urology. Nov 2006; Vol.3(11) pp.611-617.

35. Cleary K, Melzer A, Watson V, Kronreif G, Stoianovici D: Interventional Robotic Systems: Applications and Technology State-of-the-Art. Minimally Invasive Therapy & Allied Technologies. 2006; Vol.15(2) pp.101-113.

36. Fichtinger G, Burdette EC, Tanacs A, Patriciu A, Mazilu D, Whitcomb LL, Stoianovici D: Robotically assisted prostate brachytherapy with transrectal ultrasound guidance - Phantom experiments. Brachytherapy. Jan-Mar 2006; Vol.5(1) pp.14-26. PMCID:16563993

37. Muntener M, Patriciu A, Petrisor D, Mazilu D, Kavoussi L, Cleary K, Stoianovici D: Magnetic Resonance Imaging Compatible Robotic System for Fully Automated Brachytherapy Seed Placement. Urology. Dec 2006; Vol.68(6) pp.1313-1317.

38. 2008 BEST PAPER AWARD - IEEE/ASME Transactions on Mechatronics Journal
Stoianovici D, Patriciu A, Mazilu D, Petrisor D, Kavoussi L: A New Type of Motor: Pneumatic Step Motor. IEEE/ASME Transactions on Mechatronics. Feb 2007; Vol.12(1) pp.98-106. PMCID:21528106

39. Stoianovici D: Image-Guided Intervention for Prostate Cancer. The Johns Hopkins Bulletins - Prostate, March 23, 2007; pp.43-46.
40. Patriciu A, Petrisor D, Muntener M, Mazilu D, Schar M, Stoianovici D: Automatic Brachytherapy Seed Placement under MRI Guidance. IEEE Transactions on Biomedical Engineering. Aug 2007; Vol.54(8) pp.1499-1506.
41. Stoianovici D, Song D, Petrisor D, Ursu D, Mazilu D, Muntener M, Schar M, Patriciu A: "MRI Stealth" Robot for Prostate Interventions. Minimally Invasive Therapy & Allied Technologies. 2007; Vol.16(4) pp.241-248. PMCID:17763098 Movie1 [495Kb], Movie2 [1.58Mb], Movie3 [1.41Mb]
42. Stoianovici D: The Future of Surgical Technology. The Johns Hopkins Bulletins - Prostate, Sep 21, 2007; pp.18-24.

43. Muntener M, Patriciu A, Petrisor D, Schar M, Ursu D, Song D, Stoianovici D: Transperineal prostate intervention: robot for fully automated MR imaging--system description and proof of principle in a canine model. Radiology. May 2008; Vol.247(2) pp.543-549.

44. Shah S, Kapoor A, Ding J, Guion P, Petrisor D, Karanian J, Pritchard W, Stoianovici D, Wood B, Cleary K: Robotically Assisted Needle Driver: Evaluation of Safety Release, Force Profiles, and Needle Spin in a Swine Abdominal Model. International Journal of Computer Assisted Radiology and Surgery. May 21 2008.

45. Macura KJ, Stoianovici D: Advancements in magnetic resonance-guided robotic interventions in the prostate. Topics in Magnetic Resonance Imaging. Dec 2008; Vol.19(6) pp.297-304.
46. Ding J, Stoianovici D, Petrisor D, Mozer P, Avila R, Ibanez L, Turner W, Yankelvitz D, Wilson E, Banovac F, Cleary K: Medical needle steering for lung biopsy: Experimental results in tissue phantoms using a robotic needle driver. IEEE International Conference on BioInformatics and BioEngineering. 2008.

47. Mozer P, Troccaz J, Stoianovici D: Urologic robots and future directions, Current Opinion in Urology. Jan 2009; Vol.19(1) pp.114-119.
48. Mozer P, Partin AW, Stoianovici D: Robotic Image-Guided Needle Interventions of the Prostate, Reviews in Urology Winter 2009; Vol.11(1) pp.7-15.
49. Adam Cunha J, Hsu IC, Pouliot J, Roach Iii M, Shinohara K, Kurhanewicz J, Reed G, Stoianovici D: Toward adaptive stereotactic robotic brachytherapy for prostate cancer: demonstration of an adaptive workflow incorporating inverse planning and an MR stealth robot, Minimally Invasive Therapy & Allied Technologies. Aug 2010; Vol.19(4) pp.189-202.
50. Pollock R, Mozer P, Guzzo TJ, Marx J, Matlaga B, Petrisor D, Vigaru B, Badaan S, Stoianovici D, Allaf ME: Prospects in percutaneous ablative targeting: comparison of a computer-assisted navigation system and the AcuBot Robotic System, Journal of Endourology. Aug 2010; Vol.24(8) pp.1269-1272.
51. Han M, Kim C, Mozer P, Schäfer F, Badaan S, Vigaru B, Tseng K, Petrisor D, Trock B, Stoianovici D: Tandem-robot Assisted Laparoscopic Radical Prostatectomy to Improve the Neurovascular Bundle Visualization: A Feasibility Study, Urology. Feb 2011; Vol.77(2) pp.502-506. PMCID:21067797
52. Badaan S, Petrisor D, Kim C, Mozer P, Mazilu D, Gruionu L, Patriciu A, Cleary K, Stoianovici D: Does Needle Rotation Improve Lesion Targeting?, International Journal of Medical Robotics and Computer Assisted Surgery. Jun 2011; Vol.7(2) pp.138-147. PMCID:PMC3100373. Movie [7.1Mb]
53. Bonekamp D, Jacobs MA, El-Khouli R, Stoianovici D, Macura KJ: Advancements in MR imaging of the prostate: from diagnosis to interventions, Radiographics. May-Jun 2011; Vol.31(3) pp.677-703.
54. Stoianovici D: Technology Advances for Prostate Biopsy and Needle Therapies, Journal of Urology. Editorial. Oct 2012; Vol.188(4) pp.1074-1075. PMCID:22901579
55. Badaan S, Stoianovici D: Robotic Systems: Past, Present and Future, In: Hemal AK, Menon M, eds. Robotics in Genitourinary Surgery. 1st ed Springer, ISBN 978-1-84882-113-2; 2011 pp.655-665
56. Han M, Chang D, Kim C, Lee BJ, Zuo Y, Kim HJ, Petrisor D, Trock B, Partin AW, Rodriguez R, Carter HB, Allaf M, Kim J, Stoianovici D: Geometric Evaluation of Systematic Transrectal Ultrasound Guided Prostate Biopsy, Journal of Urology. Dec 2012; Vol.188(6) pp.2404-2409. PMCID:23088974.
57. Stoianovici D, Kim C, Schäfer F, Huang C-M, Zuo Y, Petrisor D, Han M: Endocavity Ultrasound Probe Manipulators, IEEE/ASME Transactions on Mechatronics. Jun 2013; Vol.18(3) pp.914-921; (ISI:000321010000010) PMCID:24795525
58. Kim C, Chang D, Petrisor D, Chirikjian G, Han M, Stoianovici D: Ultrasound probe and needle-guide calibration for robotic ultrasound scanning and needle targeting, IEEE Transactions on Biomedical Engineering. Jun 2013; Vol.60(6) pp.1728-1734. PMCID:23358940
59. Garg A, Siauw T, Berenson D, Cunha JAM, Hsu IC, Pouliot J, Stoianovici D, Goldberg K: Robot-Guided Open-Loop Insertion of Skew-Line Needle Arrangements for High Dose Rate Brachytherapy, IEEE Transactions on Automation Science and Engineering. Oct 2013; Vol.10(4) pp.948-956. ISI:000325681600013
60. Srimathveeravalli G, Kim C, Petrisor D, Ezell P, Coleman J, Hricak H, Solomon SB, Stoianovici D: MRI-Safe Robot for Targeted Transrectal Prostate Biopsy: Animal Experiments, British Journal of Urology International. Oct 10, 2013; PMCID:24118992
61. Stoianovici D, Kim C, Srimathveeravalli G, Sebrecht P, Petrisor D, Coleman J, Solomon SB, Hricak H: MRI-Safe Robot for Endorectal Prostate Biopsy, IEEE/ASME Transactions on Mechatronics. Aug 2014; Vol.19(4) pp.1289-1299. PMCID:4219418
62. Kaye DR, Stoianovici D, Han M: Robotic ultrasound and needle guidance for prostate cancer management: review of the contemporary literature, Current Opinion in Urology. Jan 2014; Vol.24(1) pp.75-80; PMCID:24257431
63. Chang D, Chong X, Kim C, Jun C, Petrisor D, Han M, Stoianovici D: Geometric systematic prostate biopsy, Minimally Invasive Therapy & Allied Technologies. Nov 11 2016; Online pp.1-8; PMCID: 27760001
64. van der Toom EE, Verdone JE, Jun C, Petrisor D, Lim S, de la Rosette JJ, de Reijke TM, Gorin MA, Pienta KJ, Stoianovici D: A Surface Tension Magnetophoretic Device for Rare Cell Isolation and Characterization, Medical Oncology. Feb 2017; Vol.34(2) pp.22; PMCID: 28058627
65. Stoianovici D, Kim C, Petrisor D, Jun C, Lim S, Ball MW, Ross AE, Macura K, Allaf ME: MR Safe Robot, FDA Clearance, Safety, and Feasibility of Prostate Biopsy Clinical Trial, IEEE/ASME Transactions on Mechatronics. Feb 2017; Vol.22(1) pp.115-126; PMCID: 28867930
66. Stoianovici D, Jun C, Lim S, Petrisor D, Monfaredi R, Wilson E, Krieger A, Fricke S, Sharma K, Cleary K: Multi-Imager Compatible, MR Safe, Remote Center of Motion Needle-Guide Robot, IEEE Transactions on Biomedical Engineering. Jan 2018; Vol.65(1) pp.165-177: PCMID: 28459678, Movie [800Kb];
67. Ball MW, Ross AE, Ghabili K, Kim C, Jun C, Petrisor D, Pan L, Epstein JI, Macura KJ, Stoianovici D, Allaf ME: Safety and Feasibility of Direct Magnetic Resonance Imaging-guided Transperineal Prostate Biopsy Using a Novel Magnetic Resonance Imaging-safe Robotic Device, Urology. Jul 19 2017 Ahead of print, PMCID: 28735018
68. Cleary K, Lim S, Jun C, Monfaredi R, Sharma K, Fricke S, Vargus L, Petrisor D, Stoianovici D: Robotically Assisted Long Bone Biopsy Under MRI Imaging: Workflow and Preclinical Study, Academic Radiology. Jan 2018; Vol.25(1) pp.74-81. PMCID: 29074334
69. Ludwig W, Lim S, Stoianovici D, Matlaga B: Endoscopic Stone Measurement During Ureteroscopy, Journal of Endourology. Jan 2018; Vol.32(1) pp.34-39, PMCID: 29084456, DOI
70. Jun C, Lim S, Wolinsky J-P, Garzon-Muvdi T, Petrisor D, Cleary K, Stoianovici D: MR Safe Robot Assisted Needle Access of the Brain: Preclinical Study, Journal of Medical Robotics Research. March 2018; Vol.3(1) DOI
71. Jun C, Decker R, Stoianovici D: Using Optical Tracking for Kinematic Testing of Medical Robots, International Journal of Medical Robotics and Computer Assisted Surgery. Apr 2018; Vol.14(2) PMCID: 29318725, DOI
72. Ziemba JB, Li P, Gurnani R, Kawamoto S, Fishman E, Fung G, Ludwig WW, Stoianovici D, Matlaga BR: A User-Friendly Application to Automate CT Renal Stone Measurement, Journal of Endourology. Aug 2018; Vol.32(8) pp.685-691 PMCID: 29890914
Download Software

73. Lim S, Sharma K, Li P, Petrisor D, Fricke S, Stoianovici D, Cleary K: Robotically Assisted Long Bone Biopsy under MRI: Cadaver Study Results, International Journal of Computer Assisted Radiology and Surgery. Nov 19 2018; Vol. pp.- PMCID: 30456451, Springer SharedIt.
74. Lim S, Jun C, Chang D, Petrisor D, Han M, Stoianovici D: Robotic Transrectal Ultrasound-Guided Prostate Biopsy, IEEE Transactions on Biomedical Engineering. Jan 7 2019; in press: PCMID: 30624210 [1.25Mb]
75. Jun C, Lim S, Petrisor D, Chirikjian G, Kim JS, Stoianovici D:: A Simple Insertion Technique to Reduce the Bending of Thin Bevel-Point Needles, Minimally Invasive Therapy & Allied Technologies. Mar 1 2019; pp.1-7. PMCID: 30822190 [620Kb]
76. Aro T, Lim S, Petrisor D, Koo K, Matlaga B, Stoianovici D: Personalized Renal Collecting System Mockup for Procedural Training Under Ultrasound Guidance, Journal of Endourology. May 2020; Vol.34(5) pp.619-623 PMCID: 32164449
Download Software

77. Koo K, Aro T, Becker REN, Lim S, Winoker JS, Petrisor D, Stoianovici D, Matlaga BR: Integrated Real-Time Digital Measurement During Ureteroscopic Procedures for Nephrolithiasis: A Workflow Feasibility Study, Journal of Endourology. Sep 2020; Vol.34(9) pp.900-904. PMCID: 32292044 [397Kb]