Real-Time Haptic Feedback in Laparoscopic Tools for Use in Gastro-Intestinal Surgery. - Tie Hu; Andres E. Castellanos; Gregory Tholey; Jaydev P. Desai (MICCAI (1), 2002)

Measuring grasping and cutting forces for reality-based haptic modeling. - Gregory Tholey; Teeranoot Chanthasopeephan; Tie Hu; Jaydev P. Desai; Alan C. W. Lau (CARS, 2003)

Evaluating the Role of Vision and Force Feedback in Minimally Invasive Surgery: New Automated Laparoscopic Grasper and A Case Study. - Gregory Tholey; Jaydev P. Desai; Andres E. Castellanos (MICCAI (1), 2003)

Design, Development, and Testing of an Automated Laparoscopic Grasper with 3-D Force Measurement Capability. - Gregory Tholey; Anand Pillarisetti; William Green; Jaydev P. Desai (ISMS, 2004)

On-site three dimensional force sensing capability in a laparoscopic grasper. - Gregory Tholey; Anand Pillarisetti; Jaydev P. Desai (Ind. Robot, 2004)

A General Purpose 7 DOF Haptic Interface. - Gregory Tholey; Jaydev P. Desai (WHC, 2005)

Design and Development of a General Purpose 7 DOF Haptic Device. - Gregory Tholey; Jaydev P. Desai (HAPTICS, 2006)

A Modular, Automated Laparoscopic Grasper with Three-Dimensional Force Measurement Capability. - Gregory Tholey; Jaydev P. Desai (ICRA, 2007)

Haptic feedback system for robot-assisted surgery. - Jaydev P. Desai; Gregory Tholey; Christopher W. Kennedy (PerMIS, 2007)