A new robot for force control in minimally invasive surgery. - Nabil Zemiti; Tobias Ortmaier; Guillaume Morel (IROS, 2004)

A Force Controlled Laparoscopic Surgical Robot without Distal Force Sensing. - Nabil Zemiti; Tobias Ortmaier; Marie-Aude Vitrani; Guillaume Morel (ISER, 2004)

MARGE Project: Design, Modeling, and Control of Assistive Devices for Minimally Invasive Surgery. - Etienne Dombre; Micaël Michelin; François Pierrot; Philippe Poignet; Philippe Bidaud; Guillaume Morel; Tobias Ortmaier; Damien Sallé; Nabil Zemiti; Philippe Gravez; Mourad Karouia; Nicolas Bonnet (MICCAI (2), 2004)

A Passive Formulation of Force Control for Kinematically Constrained Manipulators. - Nabil Zemiti; Guillaume Morel; Barthelemy Cagneau; Delphine Bellot; Alain Micaelli (ICRA, 2006)

Physiological Motion Compensation in Robotized Surgery using Force Feedback Control. - Barthelemy Cagneau; Nabil Zemiti; Delphine Bellot; Guillaume Morel (ICRA, 2007)

Augmented Comanipulation in Robotic Surgery. - Barthelemy Cagneau; Delphine Bellot; Guillaume Morel; Nabil Zemiti; Gianluca D'Agostino (BIODEVICES (2), 2008)

A passive force amplifier. - Barthelemy Cagneau; Guillaume Morel; Delphine Bellot; Nabil Zemiti; Ginluca A. d'Agostino (ICRA, 2008)

Design of an ultrasound-guided robotic brachytherapy needle insertion system - Nikolai Hungr; Jocelyne Troccaz; Nabil Zemiti; Nathanael Tripodi (CoRR, 2009)

On the Force Control of Kinematically Defective Manipulators Interacting With an Unknown Environment. - Nabil Zemiti; Guillaume Morel; Alain Micaelli; Barthelemy Cagneau; Delphine Bellot (IEEE Trans. Control. Syst. Technol., 2010)

3D force control for robotic-assisted beating heart surgery based on viscoelastic tissue model. - Chao Liu 003; Pedro Moreira; Nabil Zemiti; Philippe Poignet (EMBC, 2011)

Haptic feedback control in medical robots through fractional viscoelastic tissue model. - Yo Kobayashi; Pedro Moreira; Chao Liu 003; Philippe Poignet; Nabil Zemiti; Masakatsu G. Fujie (EMBC, 2011)

Real-time control and evaluation of a teleoperated miniature arm for Single Port Laparoscopy. - Luis Alonso Sánchez; Gianluigi Petroni; Marco Piccigallo; Umberto Scarfogliero; Marta Niccolini; Chao Liu 003; Cesare Stefanini; Nabil Zemiti; Arianna Menciassi; Philippe Poignet; Paolo Dario (EMBC, 2011)

Adaptive path planning for steerable needles using duty-cycling. - Mariana C. Bernardes; Bruno Vilhena Adorno; Philippe Poignet; Nabil Zemiti; Geovany Araujo Borges (IROS, 2011)

A Case Study of Safety in the Design of Surgical Robots: The ARAKNES Platform. - L. Alonso Sanchez; M. Q. Le; Kanty Rabenorosoa; Chao Liu 003; Nabil Zemiti; Philippe Poignet; Etienne Dombre; Arianna Menciassi; Paolo Dario (IAS (2), 2012)

Soft tissue force control using active observers and viscoelastic interaction model. - Pedro Moreira; Chao Liu 003; Nabil Zemiti; Philippe Poignet (ICRA, 2012)

The impact of interaction model on stability and transparency in bilateral teleoperation for medical applications. - L. Alonso Sanchez; M. Q. Le; Chao Liu 003; Nabil Zemiti; Philippe Poignet (ICRA, 2012)

Beating Heart Motion Compensation Using Active Observers and Disturbance Estimation. - Pedro Moreira; Chao Liu 003; Nabil Zemiti; Philippe Poignet (SyRoCo, 2012)

A Case Study of Safety in the Design of Surgical Robots: The ARAKNES Platform. - L. Alonso Sanchez; M. Q. Le; Kanty Rabenorosoa; Chao Liu 003; Nabil Zemiti; Philippe Poignet; Etienne Dombre; Arianna Menciassi; Paolo Dario (Frontiers of Intelligent Autonomous Systems, 2013)

Comparative Assessment of a Novel Optical Human-Machine Interface for Laparoscopic Telesurgery. - Fabien Despinoy; L. Alonso Sanchez; Nabil Zemiti; Pierre Jannin; Philippe Poignet (IPCAI, 2014)

Modelling and Control of an ERF-Based Needle Insertion Training Platform. - Adrian Graña; L. Alonso Sanchez; Nabil Zemiti; Philippe Poignet (IPCAI, 2014)

Design and evaluation of a 1DoF ERF-based needle insertion haptic platform. - Adrian Graña Sanchez; L. Alonso Sanchez; Nabil Zemiti; Philippe Poignet (IROS, 2014)

Viscoelastic model based force control for soft tissue interaction and its application in physiological motion compensation. - Pedro Moreira; Nabil Zemiti; Chao Liu 003; Philippe Poignet (Comput. Methods Programs Biomed., 2014)

Needle deflection prediction using adaptive slope model. - Éderson Antônio Gomes Dorilêo; Nabil Zemiti; Philippe Poignet (ICAR, 2015)

Simplified adaptive path planning for percutaneous needle insertions. - Éderson Antônio Gomes Dorilêo; Abdulrahman Albakri; Nabil Zemiti; Philippe Poignet (ICRA, 2015)

Unsupervised Trajectory Segmentation for Surgical Gesture Recognition in Robotic Training. - Fabien Despinoy; David Bouget; Germain Forestier; Cédric Penet; Nabil Zemiti; Philippe Poignet; Pierre Jannin (IEEE Trans. Biomed. Eng., 2016)

Fast And Simple Automatic 3D Ultrasound Probe Calibration Based On 3D Printed Phantom And An Untracked Marker. - Jun Shen 007; Nabil Zemiti; Jean-Louis Dillenseger; Philippe Poignet (EMBC, 2018)

Evaluation of contactless human-machine interface for robotic surgical training. - Fabien Despinoy; Nabil Zemiti; Germain Forestier; L. Alonso Sanchez; Pierre Jannin; Philippe Poignet (Int. J. Comput. Assist. Radiol. Surg., 2018)

Holdable Haptic Device for 4-DOF Motion Guidance. - Julie M. Walker; Nabil Zemiti; Philippe Poignet; Allison M. Okamura (WHC, 2019)

Optimal Feature Selection for EMG-Based Finger Force Estimation Using LightGBM Model. - Yuhang Ye 002; Chao Liu 003; Nabil Zemiti; Chenguang Yang 001 (RO-MAN, 2019)

How to enhance learning of robotic surgery gestures? A tactile cue saliency investigation for 3D hand guidance. - Gustavo D. Gil; Julie M. Walker; Nabil Zemiti; Allison M. Okamura; Philippe Poignet (CoRR, 2019)

Transrectal ultrasound image-based real-time augmented reality guidance in robot-assisted laparoscopic rectal surgery: a proof-of-concept study. - Jun Shen 007; Nabil Zemiti; Christophe Taoum; Guillaume Aiche; Jean-Louis Dillenseger; Philippe Rouanet; Philippe Poignet (Int. J. Comput. Assist. Radiol. Surg., 2020)

Geometric Calibration of a New Miniaturized Endoscopic Ultrasound Probe. - João Cavalcanti Santos; Lucas Lavenir; Nabil Zemiti; Philippe Poignet; Frédéric Venail (ICAR, 2021)

Simultaneous haptic guidance and learning of task parameters during robotic teleoperation - a geometrical approach. - Thibault Poignonec; Florent Nageotte; Nabil Zemiti; Bernard Bayle (ICRA, 2021)

Admittance-Controlled Robotic Assistant for Fibula Osteotomies in Mandible Reconstruction Surgery. - Lingbo Cheng; Jay Carriere; Jakub Piwowarczyk; Daniel Aalto; Nabil Zemiti; Marie de Boutray; Mahdi Tavakoli (Adv. Intell. Syst., 2021)

Virtual lumbar puncture simulators: where are we today? - Monserrat Rìos-Hernández; Juan Manuel Jacinto-Villegas; Adriana Herlinda Vilchis-González; Nabil Zemiti; Miguel A. Padilla Castañeda (ENC, 2022)

Fibular registration using surface matching in navigation-guided osteotomies: a proof of concept study on 3D-printed models. - Marie de Boutray; João Cavalcanti Santos; Adrien Bourgeade; Michael Ohayon; Pierre-Emmanuel Chammas; Renaud Garrel; Philippe Poignet; Nabil Zemiti (Int. J. Comput. Assist. Radiol. Surg., 2022)

sEMG-based Motion Recognition for Robotic Surgery Training - A Preliminary Study. - Chenji Li; Chao Liu 003; Arnaud Huaulmé; Nabil Zemiti; Pierre Jannin; Philippe Poignet (EMBC, 2023)

Design Optimization of a Soft Micro-Robot for Medical Intervention. - Alexandre Thuillier; Sébastien Krut; Nabil Zemiti; Philippe Poignet (ICAR, 2023)

Decoupled Model Predictive Control for Path Following on Complex Surfaces. - João Cavalcanti Santos; Lenaïc Cuau; Philippe Poignet; Nabil Zemiti (IEEE Robotics Autom. Lett., 2023)

Miniaturized Endoscopic 2D US Transducer for Volumetric Ultrasound Imaging of the Auditory System. - Lucas Lavenir; João Cavalcanti Santos; Nabil Zemiti; Akil Kaderbay; Frédéric Venail; Philippe Poignet (IEEE Trans. Biomed. Eng., 2023)

Contactless surface registration of featureless anatomy using structured light camera: application to fibula navigation in mandible reconstruction. - Lenaïc Cuau; Marie de Boutray; João Cavalcanti Santos; Nabil Zemiti; Philippe Poignet (Int. J. Comput. Assist. Radiol. Surg., 2023)

Direct TPS-based 3D non-rigid motion estimation on 3D colored point cloud in eye-in-hand configuration. - Lénaïc Cuau; João Cavalcanti Santos; Philippe Poignet; Nabil Zemiti (IROS, 2024)

Optimal Bending Stiffness Design of a Soft Micro-Robot for Cochlear Implantation. - Alexandre Thuillier; Sébastien Krut; Nabil Zemiti; Philippe Poignet (RoboSoft, 2024)

Online Correction of Task Registration and Robot Models from User Input. - Thibault Poignonec; Florent Nageotte; Nabil Zemiti; Bernard Bayle (ACM Trans. Hum. Robot Interact., 2025)

Interactive pipeline for mandible reconstruction surgery planning using fibula free flap. - Sylvain Leclerc; Bianca Jansen Van Rensburg; Thibault De Villèle; Marie de Boutray; Nabil Zemiti; Noura Faraj (Int. J. Comput. Assist. Radiol. Surg., 2025)

Non-Rigid Motion Compensation With Skin Deformation Prediction for in Situ Bioprinting. - Lénaïc Cuau; Philippe Poignet; Nabil Zemiti (IEEE Robotics Autom. Lett., 2025)