Prototype of Instrument for Minimally Invasive Surgery with 6-Axis Force Sensing Capability. - Ulrich Seibold; Bernhard Kübler; Gerd Hirzinger (ICRA, 2005)

Robot Assisted Force Feedback Surgery. - Tobias Ortmaier; Barbara Deml; Bernhard Kübler; Georg Passig; Detlef Reintsema; Ulrich Seibold (Advances in Telerobotics, 2007)

Telemanipulator for remote minimally invasive surgery. - Ulrich Hagn; Tobias Ortmaier; Rainer Konietschke; Bernhard Kübler; Ulrich Seibold; Andreas Tobergte; Mathias Nickl; Stefan Jörg; Gerd Hirzinger (IEEE Robotics Autom. Mag., 2008)

The DLR MiroSurge - A robotic system for surgery. - Rainer Konietschke; Ulrich Hagn; Mathias Nickl; Stefan Jörg; Andreas Tobergte; Georg Passig; Ulrich Seibold; Luc Le Tien; Bernhard Kübler; Martin Gröger; Florian A. Fröhlich; Christian Rink; et al. (ICRA, 2009)

On the role of multimodal communication in telesurgery systems. - Robert Bauernschmitt; Eva U. Braun; Martin Buss; Florian A. Fröhlich; Sandra Hirche; Gerhard Hirzinger; Julius Kammerl; Alois C. Knoll; Rainer Konietschke; Bernhard Kübler; Rüdiger Lange; Hermann Georg Mayer; et al. (MMSP, 2009)

DLR MiroSurge: a versatile system for research in endoscopic telesurgery. - Ulrich Hagn; Rainer Konietschke; Andreas Tobergte; Mathias Nickl; Stefan Jörg; Bernhard Kübler; Georg Passig; Martin Gröger; Florian A. Fröhlich; Ulrich Seibold; Luc Le Tien; Alin Albu-Schäffer; et al. (Int. J. Comput. Assist. Radiol. Surg., 2010)

MiroSurge - Advanced User Interaction Modalities in Minimally Invasive Robotic Surgery. - Andreas Tobergte; Georg Passig; Bernhard Kübler; Ulrich Seibold; Ulrich Hagn; Florian A. Fröhlich; Rainer Konietschke; Stefan Jörg; Mathias Nickl; Sophie Thielmann; Robert Haslinger; Martin Gröger; et al. (Presence Teleoperators Virtual Environ., 2010)

Ultraschallgestützte, quasi-taktile Rückkopplung zur Gefäßdetektion in der minimal invasiven, robotergestützten Chirurgie. - Bernhard Kübler; Alexandra Wimmer; Ruben Bärenweiler; Peter Hausamann; Robin Gruber; Gerd Hirzinger (CURAC, 2012)

Spine-kinematics with constraint guidance for robot supported MIS-instruments. - Alexandra Wimmer; Bastian Deutschmann; Bernhard Kübler; Christian Rink; Gerd Hirzinger (ICRA, 2013)

Adaption of the DLR MiroSurge System's Kinematics to Surgical Table Based Patient Repositioning in Minimally Invasive Surgery. - Florian Steidle; Anja Hellings; Julian Klodmann; Ch. Schenk; Sergey Tarassenko; Bernhard Kübler (CURAC, 2014)