Design, Kinematic Modeling, and Validation of a Robotic-Assisted Transesophageal Echocardiography System. - Seyed MohammadReza Sajadi; Kim Mathiassen; Henrik Brun; Ole Jakob Elle (SII, 2022)

Towards Autonomous Robotic Biopsy - Design, Modeling and Control of a Robot for Needle Insertion of a Commercial Full Core Biopsy Instrument. - Seyed MohammadReza Sajadi; Seyed Mojtaba Karbasi; Henrik Brun; Jim Tørresen; Ole Jacob Elle; Kim Mathiassen (Frontiers Robotics AI, 2022)

Spatial Orientation in Cardiac Ultrasound Images Using Mixed Reality: Design and Evaluation. - Dharani Maddali; Henrik Brun; Gabriel Kiss; Jon Mikkelsen Hjelmervik; Ole Jakob Elle (Frontiers Virtual Real., 2022)

Ultrasound Robotic-Assisted Teleoperation Over Networks: Performance Evaluation of Commercial 5G, Wi-Fi, and Ethernet. - Seyed MohammadReza Sajadi; Kim Mathiassen; Håvard Solvin; Henrik Brun; Per Hjalmar Lehne; Ole Jakob Elle (ICMRE, 2025)