Jiamei Guo Zhehao Duan Maria Neiiendam Dianye Huang Nassir Navab Zhongliang Jiang ConVibNet: needle detection during continuous insertion via frequency-inspired features. 2026 May 1081-1089 21 Int. J. Comput. Assist. Radiol. Surg. 5 https://doi.org/10.1007/s11548-026-03649-5 db/journals/cars/cars21.html#GuoDNHNJ26 streams/journals/cars