Development and Kinematic Analysis of a Redundant, Modular and Backdrivable Laparoscopic Surgery Robot. - Alaa Alassi; Nural Yilmaz; Merve Bazman; Berke Gur; Ugur Tümerdem (AIM, 2018)

Dexterous and back-drivable parallel robotic forceps wrist for robotic surgery. - Merve Bazman; Nural Yilmaz; Ugur Tümerdem (AMC, 2018)

External Force/Torque Estimation on a Dexterous Parallel Robotic Surgical Instrument Wrist. - Nural Yilmaz; Merve Bazman; Ugur Tümerdem (IROS, 2018)

6-Axis Hybrid Sensing and Estimation of Tip Forces/Torques on a Hyper-Redundant Robotic Surgical Instrument. - Nural Yilmaz; Merve Bazman; Alaa Alassi; Berke Gur; Ugur Tümerdem (IROS, 2019)