Beating Heart Tracking in Robotic Surgery using 500 Hz Visual Servoing, Model Predictive Control and an Adaptive Observer. - Romuald Ginhoux; Jacques Gangloff; Michel de Mathelin; Luc Soler; Maria Mara Arenas Sanchez; Jacques Marescaux (ICRA, 2004)

Active filtering of physiological motion in robotized surgery using predictive control. - Romuald Ginhoux; Jacques Gangloff; Michel de Mathelin; Luc Soler; Maria Mara Arenas Sanchez; Jacques Marescaux (IEEE Trans. Robotics, 2005)