Computer-ASsisted PERicardial punctures: animal feasibility study. - Olivier Chavanon; Catherine Barbe; Jocelyne Troccaz; Lionel Carrat; Christophe Ribuot; Dominique Blin (CVRMed, 1997)

PADyC: A Synergistic Robot for Cardiac Puncturing. - Olivier Schneider; Jocelyne Troccaz; Olivier Chavanon; Dominique Blin (ICRA, 2000)