A dynamic active constraints approach for hands-on robotic surgery. - Joshua G. Petersen; Ferdinando Rodriguez y Baena (IROS, 2013)

Mass and inertia optimization for natural motion in hands-on robotic surgery. - Joshua G. Petersen; Ferdinando Rodriguez y Baena (IROS, 2014)

Parallel moduli space sampling: Robust and fast surgery planning for image guided steerable needles. - Fangde Liu; Joshua G. Petersen; Ferdinando Rodriguez y Baena (ROBIO, 2015)

Mass and Friction Optimization for Natural Motion in Hands-On Robotic Surgery. - Joshua G. Petersen; Stuart A. Bowyer; Ferdinando Rodriguez y Baena (IEEE Trans. Robotics, 2016)