Development and Kinematic Analysis of a Redundant, Modular and Backdrivable Laparoscopic Surgery Robot. - Alaa Alassi; Nural Yilmaz; Merve Bazman; Berke Gur; Ugur Tümerdem (AIM, 2018)

Dexterous and back-drivable parallel robotic forceps wrist for robotic surgery. - Merve Bazman; Nural Yilmaz; Ugur Tümerdem (AMC, 2018)

External Force/Torque Estimation on a Dexterous Parallel Robotic Surgical Instrument Wrist. - Nural Yilmaz; Merve Bazman; Ugur Tümerdem (IROS, 2018)

6-Axis Hybrid Sensing and Estimation of Tip Forces/Torques on a Hyper-Redundant Robotic Surgical Instrument. - Nural Yilmaz; Merve Bazman; Alaa Alassi; Berke Gur; Ugur Tümerdem (IROS, 2019)

Neural Network based Inverse Dynamics Identification and External Force Estimation on the da Vinci Research Kit. - Nural Yilmaz; Jie Ying Wu; Peter Kazanzides; Ugur Tümerdem (ICRA, 2020)

Estimation of Trocar and Tool Interaction Forces on the da Vinci Research Kit with Two-Step Deep Learning. - Jie Ying Wu; Nural Yilmaz; Peter Kazanzides; Ugur Tümerdem (CoRR, 2020)

Robot Force Estimation with Learned Intraoperative Correction. - Jie Ying Wu; Nural Yilmaz; Ugur Tümerdem; Peter Kazanzides (ISMR, 2021)

Learning Based Estimation of 7 DOF Instrument and Grasping Forces on the da Vinci Research Kit. - Jintan Zhang; Nural Yilmaz; Ugur Tümerdem; Peter Kazanzides (ISMR, 2022)

Transfer of learned dynamics between different surgical robots and operative configurations. - Nural Yilmaz; Jintan Zhang; Peter Kazanzides; Ugur Tümerdem (Int. J. Comput. Assist. Radiol. Surg., 2022)

Learning Contact for Haptic Feedback: Switching X-lateral Teleoperators. - Nural Yilmaz; Ugur Tümerdem (ICRA, 2024)

Sensorless Transparency Optimized Haptic Teleoperation on the da Vinci Research Kit. - Nural Yilmaz; Brendan Burkhart; Anton Deguet; Peter Kazanzides; Ugur Tümerdem (IEEE Robotics Autom. Lett., 2024)

Enhancing robotic telesurgery with sensorless haptic feedback. - Nural Yilmaz; Brendan Burkhart; Anton Deguet; Peter Kazanzides; Ugur Tümerdem (Int. J. Comput. Assist. Radiol. Surg., 2024)

Autonomous Vision-Guided Resection of Central Airway Obstruction. - Mariana E. Smith; Nural Yilmaz; Tanner Watts; Paul Maria Scheikl; Jiawei Ge 001; Anton Deguet; Alan Kuntz; Axel Krieger (CoRR, 2025)

From Monocular Vision to Autonomous Action: Guiding Tumor Resection via 3D Reconstruction. - Ayberk Acar; Mariana E. Smith; Lidia Al-Zogbi; Tanner Watts; Fangjie Li; Hao Li; Nural Yilmaz; Paul Maria Scheikl; Jesse F. d'Almeida; Susheela Sharma; Lauren Branscombe; Tayfun Efe Ertop; et al. (CoRR, 2025)