In Vivo Pan/Tilt Endoscope with Integrated Light Source, Zoom and Auto-focusing. - Tie Hu; Peter K. Allen; Roger E. Goldman; Nancy J. Hogle; Dennis L. Fowler (MMVR, 2008)

Insertable Surgical Imaging Device with Pan, Tilt, Zoom, and Lighting. - Tie Hu; Peter K. Allen; Nancy J. Hogle; Dennis L. Fowler (Int. J. Robotics Res., 2009)