The tethered magnet: Force and 5-DOF pose control for cardiac ablation. - Christophe Chautems; Bradley J. Nelson (ICRA, 2017)

A variable stiffness catheter controlled with an external magnetic field. - Christophe Chautems; Alice Tonazzini; Dario Floreano; Bradley J. Nelson (IROS, 2017)

Design and Evaluation of a Steerable Magnetic Sheath for Cardiac Ablations. - Christophe Chautems; Sean Lyttle; Quentin Boehler; Bradley J. Nelson (IEEE Robotics Autom. Lett., 2018)

Modeling Electromagnetic Navigation Systems for Medical Applications using Random Forests and Artificial Neural Networks. - Ruoxi Yu; Samuel L. Charreyron; Quentin Boehler; Cameron Weibel; Christophe Chautems; Carmen C. Y. Poon; Bradley J. Nelson (ICRA, 2020)

Magnetic Continuum Device with Variable Stiffness for Minimally Invasive Surgery. - Christophe Chautems; Alice Tonazzini; Quentin Boehler; Seung Hee Jeong; Dario Floreano; Bradley J. Nelson (Adv. Intell. Syst., 2020)

Modeling Electromagnetic Navigation Systems. - Samuel L. Charreyron; Quentin Boehler; Byungsoo Kim 001; Cameron Weibel; Christophe Chautems; Bradley J. Nelson (IEEE Trans. Robotics, 2021)

An Evaluation Platform for Catheter Ablation Navigation. - Florian Heemeyer; Christophe Chautems; Quentin Boehler; José Luis Merino; Bradley J. Nelson (ISMR, 2023)

Robotic Catheter Ablation: An Evaluation and Prototyping Platform. - Florian Heemeyer; Quentin Boehler; Christophe Chautems; Leonardo E. Guido López; Miguel Jáuregui-Abularach; José Luis Merino; Bradley J. Nelson (J. Medical Robotics Res., 2023)

On the Workspace of Electromagnetic Navigation Systems. - Quentin Boehler; Simone Gervasoni; Samuel L. Charreyron; Christophe Chautems; Bradley J. Nelson (IEEE Trans. Robotics, 2023)

Dexterous helical magnetic robot for improved endovascular access. - Roland Dreyfus; Quentin Boehler; Sean Lyttle; Philipp Gruber; Jonas Lussi; Christophe Chautems; Simone Gervasoni; Jatta Berberat; Dominic Emanuel Seibold; Nicole Ochsenbein-Kölble; Michael Reinehr; M. Weisskopf; et al. (Sci. Robotics, 2024)

Clinically Ready Magnetic Microrobots for Targeted Therapies. - Fabian C. Landers; Lukas Hertle; Vitaly Pustovalov; Derick Sivakumaran; Oliver Brinkmann; Kirstin Meiners; Pascal Theiler; Valentin Gantenbein; Andrea Veciana; Michael Mattmann; Silas Riss; Simone Gervasoni; et al. (CoRR, 2025)