Tendons, concentric tubes, and a bevel tip: Three steerable robots in one transoral lung access system. - Philip J. Swaney; Arthur W. Mahoney; Andria A. Remirez; Erik Lamers; Bryan I. Hartley; Richard H. Feins; Ron Alterovitz; Robert J. Webster III (ICRA, 2015)

Toward Transoral Peripheral Lung Access: Combining Continuum Robots and Steerable Needles. - Philip J. Swaney; Arthur W. Mahoney; Bryan I. Hartley; Andria A. Remirez; Erik Lamers; Richard H. Feins; Ron Alterovitz; Robert J. Webster III (J. Medical Robotics Res., 2017)

Through the Eustachian Tube and Beyond: A New Miniature Robotic Endoscope to See Into the Middle Ear. - Loris Fichera; Neal P. Dillon; Dongqing Zhang; Isuru S. Godage; Michael A. Siebold; Bryan I. Hartley; Jack H. Noble; Paul T. Russell III; Robert F. Labadie; Robert J. Webster III (IEEE Robotics Autom. Lett., 2017)