Experimental evaluation of real-time model-based control of a 3-DOF closed-chain direct-drive mechanism. - Darrin R. Uecker; Yulun Wang; Theodore Kokkinis (ICRA, 1991)

Image analysis for automated tracking in robot-assisted endoscopic surgery. - Cheolwhan Lee; Yuan-Fang Wang; Darrin R. Uecker; Yulun Wang (ICPR (1), 1994)

Choreographed scope manoeuvring in robotically-assisted laparoscopy with active vision guidance. - Yuan-Fang Wang; Darrin R. Uecker; Yulun Wang (WACV, 1996)