Computer-Aided Hepatic Tumour Ablation. - David Voirin; Yohan Payan; Miriam Amavizca; Antoine Leroy; Christian Létoublon; Jocelyne Troccaz (MICCAI, 2001)

A Compact, Compliant Laparoscopic Endoscope Manipulator. - Peter J. Berkelman; Philippe Cinquin; Jocelyne Troccaz; Jean-Marc Ayoubi; Christian Létoublon; F. Bouchard (ICRA, 2002)

Development of a Compact Cable-Driven Laparoscopic Endoscope Manipulator. - Peter J. Berkelman; Philippe Cinquin; Jocelyne Troccaz; Jean-Marc Ayoubi; Christian Létoublon (MICCAI (1), 2002)

Development of miniaturized light endoscope-holder robot for laparoscopic surgery - Jean-Alexandre Long; Philippe Cinquin; Jocelyne Troccaz; Sandrine Voros; Jean-Luc Descotes; Peter J. Berkelman; Christian Létoublon; Jean-Jacques Rambeaud (CoRR, 2007)