Ultrasound image-based comanipulation for enhanced perception of the contacts with a distal soft organ. - Cecile Poquet Torterotot; Marie-Aude Vitrani; Pierre Mozer; Guillaume Morel (ROBIO, 2011)

A novel comanipulation device for assisting needle placement in ultrasound guided prostate biopsies. - Cecile Poquet Torterotot; Pierre Mozer; Guillaume Morel; Marie-Aude Vitrani (IROS, 2013)

Conception et commande d'un robot de comanipulation pour l'assistance à la biopsie de prostate. (Design and control of a comanipulation robot for assistance to prostate biopsy). - Cecile Poquet (2014)

Applying Virtual Fixtures to the Distal End of a Minimally Invasive Surgery Instrument. - Marie-Aude Vitrani; Cecile Poquet; Guillaume Morel (IEEE Trans. Robotics, 2017)