Sensor architecture for a two-actuator robotic endoscope tip. - Yi Chen; Jillian M. Oliveira; Ian W. Hunter (EMBC, 2011)

Robotic endoscope motor module and gearing design. - Jillian M. Oliveira; Yi Chen; Ian W. Hunter (EMBC, 2011)

Two-axis bend sensor design, kinematics and control for a continuum robotic endoscope. - Yi Chen; Jillian M. Oliveira; Ian W. Hunter (ICRA, 2013)