Beyond Constant Curvature: A New Mechanics Model for Unidirectional Notched-Tube Continuum Wrists. - Nicholas E. Pacheco; Joshua B. Gafford; Mostafa A. Atalla; Robert J. Webster III; Loris Fichera (J. Medical Robotics Res., 2021)

Light in the Larynx: a Miniaturized Robotic Optical Fiber for In-office Laser Surgery of the Vocal Folds. - Alex J. Chiluisa; Nicholas E. Pacheco; Hoang S. Do; Ryan M. Tougas; Emily V. Minch; Rositsa Mihaleva; Yao Shen; Yuxiang Liu; Thomas L. Carroll; Loris Fichera (IROS, 2022)

When the End Effector Is a Laser: A Review of Robotics in Laser Surgery. - Hun Chan Lee; Nicholas E. Pacheco; Loris Fichera; Sheila Russo (Adv. Intell. Syst., 2022)

Multi Jet Fusion of Nylon-12: A Viable Method to 3D-print Concentric Tube Robots? - Kalani Picho; Brandon Persons; Jesse F. d'Almeida; Nicholas E. Pacheco; Colin Reynolds; Loris Fichera (CoRR, 2022)

Losing Focus: Can It Be Useful in Robotic Laser Surgery? - Nicholas E. Pacheco; Yash Garje; Aakash Rohra; Loris Fichera (CoRR, 2023)

FDM Printing: A Fabrication Method for Fluidic Soft Circuits? - Savita V. Kendre; Lehong Wang; Ethan Wilke; Nicholas E. Pacheco; Loris Fichera; Markus P. Nemitz (RoboSoft, 2024)

Towards a Physics Engine to Simulate Robotic Laser Surgery: Finite Element Modeling of Thermal Laser-Tissue Interactions. - Nicholas E. Pacheco; Kang Zhang; Ashley S. Reyes; Christopher J. Pacheco; Lucas Burstein; Loris Fichera (ISMR, 2025)