Crawling on the Heart: A Mobile Robotic Device for Minimally Invasive Cardiac Interventions. - Nicholas A. Patronik; Marco A. Zenati; Cameron N. Riviere (MICCAI (2), 2004)

Improved Traction for a Mobile Robot Traveling on the Heart. - Nicholas A. Patronik; Takeyoshi Ota; Marco A. Zenati; Cameron N. Riviere (EMBC, 2006)

A Miniature Mobile Robot for Navigation and Positioning on the Beating Heart. - Nicholas A. Patronik; Takeyoshi Ota; Marco A. Zenati; Cameron N. Riviere (IEEE Trans. Robotics, 2009)

Fourier modeling of porcine heartbeat and respiration in vivo for synchronization of HeartLander robot locomotion. - Nathan A. Wood; Nicholas A. Patronik; Marco A. Zenati; Cameron N. Riviere (EMBC, 2011)