Virtual Fixtures for Robotic Cardiac Surgery. - Shinsuk Park; Robert D. Howe; David F. Torchiana (MICCAI, 2001)

Optimal Port Placement in Robot-Assisted Coronary Artery Bypass Grafting. - Shaun Selha; Pierre E. Dupont; Robert D. Howe; David F. Torchiana (MICCAI, 2001)

Port placement planning in robot-assisted coronary artery bypass. - Jeremy W. Cannon; Jeffrey A. Stoll; Shaun Selha; Pierre E. Dupont; Robert D. Howe; David F. Torchiana (IEEE Trans. Robotics Autom., 2003)