Quasi-static modeling of the da Vinci instrument. - Farshad Anooshahpour; Ilia G. Polushin; Rajni V. Patel (IROS, 2014)

Tissue compliance determination using a da Vinci instrument. - Farshad Anooshahpour; Ilia G. Polushin; Rajni V. Patel (ICRA, 2015)

Classical Preisach model of hysteretic behavior in a da Vinci instrument. - Farshad Anooshahpour; Ilia G. Polushin; Rajni V. Patel (AIM, 2016)

Modeling of tendon-pulley transmission systems with application to surgical robots: A preliminary experimental validation. - Farshad Anooshahpour; Peyman Yadmellat; Ilia G. Polushin; Rajni V. Patel (AIM, 2017)

A motion transmission model for multi-DOF tendon-driven mechanisms with hysteresis and coupling: Application to a da Vinci® instrument. - Farshad Anooshahpour; Peyman Yadmellat; Ilia G. Polushin; Rajni V. Patel (IROS, 2017)