Grasper-Needle Coordination in Robotic Laparoscopic Surgery: Potential Fields Approach. - Carlos Fontúrbel; Juan C. Fraile; Javier Pérez Turiel (ROBOT (2), 2023)

Force-based control strategy for a collaborative robotic camera holder in laparoscopic surgery using pivoting motion. - Carlos Fontúrbel; Ana Cisnal; Juan Carlos Fraile Marinero; Javier Pérez Turiel (Frontiers Robotics AI, 2023)

Real-Time Tool Localization for Laparoscopic Surgery Using Convolutional Neural Network. - Diego Benavides; Ana Cisnal; Carlos Fontúrbel; Eusebio de la Fuente López; Juan C. Fraile (Sensors, 2024)