Design and Theoretical Evaluation of Micro-Surgical Manipulators for Orbital Manipulation and Intraocular Dexterity. - Wei Wei; Roger E. Goldman; Nabil Simaan; Howard F. Fine; Stanley Chang (ICRA, 2007)

Performance Evaluation for Multi-arm Manipulation of Hollow Suspended Organs. - Wei Wei; Roger E. Goldman; Howard F. Fine; Stanley Chang; Nabil Simaan (IEEE Trans. Robotics, 2009)