Planning, calibration and collision-avoidance for image-guided radiosurgery. - Achim Schweikard; Mohan Bodduluri; Rhea Tombropoulos; John R. Adler Jr. (IROS, 1994)

Planning for camera-guided robotic radiosurgery. - Achim Schweikard; Mohan Bodduluri; John R. Adler Jr. (IEEE Trans. Robotics Autom., 1998)