Interleaved continuum-rigid manipulation: An augmented approach for robotic minimally-invasive flexible catheter-based procedures. - Benjamin L. Conrad; Jinwoo Jung; Ryan S. Penning; Michael R. Zinn (ICRA, 2013)

Interleaved continuum-rigid manipulation approach: Development and functional evaluation of a clinical scale manipulator. - Benjamin L. Conrad; Michael R. Zinn (IROS, 2014)

Closed loop task space control of an interleaved continuum-rigid manipulator. - Benjamin L. Conrad; Michael R. Zinn (ICRA, 2015)