Force controlled and teleoperated endoscopic grasper for minimally invasive surgery-experimental performance evaluation. - Jacob Rosen 001; Blake Hannaford; Mark P. MacFarlane; Mika N. Sinanan (IEEE Trans. Biomed. Eng., 1999)

Pliers and Snowball at CLEF 2002. - Mark P. MacFarlane (CLEF, 2002)