Integrated embedded architectures and parallel algorithms for a decentralized control system. - Helen Boussalis; Charles Liu; Khosrow Rad; Jianyu Dong; Salvador Fallorina; Paul Thienphrapa; J. Roberts (ISIC, 2005)

A Fault-tolerant distributed data flow architecture for real-time decentralized control. - Salvador Fallorina; Paul Thienphrapa; Rodrigo Luna; Vu Khuong; Helen Boussalis; Charles Liu; Jane Dong; Khosrow Rad; Wing Ho (ICINCO, 2005)

Tracking and Characterization of Fragments in a Beating Heart Using 3D Ultrasound for Interventional Guidance. - Paul Thienphrapa; Haytham Elhawary; Bharat Ramachandran; Douglas Stanton; Aleksandra Popovic (MICCAI (1), 2011)

Design of a scalable real-time robot controller and application to a dexterous manipulator. - Paul Thienphrapa; Peter Kazanzides (ROBIO, 2011)

Multiple capture locations for 3D ultrasound-guided robotic retrieval of moving bodies from a beating heart. - Paul Thienphrapa; Bharat Ramachandran; Haytham Elhawary; Russell H. Taylor; Aleksandra Popovic (Image-Guided Procedures, 2012)

Guidance of a high dexterity robot under 3D ultrasound for minimally invasive retrieval of foreign bodies from a beating heart. - Paul Thienphrapa; Aleksandra Popovic; Russell H. Taylor (ICRA, 2014)

User Centric Device Registration for Streamlined Workflows in Surgical Navigation Systems. - Paul Thienphrapa; Prasad Vagdargi; Alvin Chen; Douglas Stanton (ICRA, 2019)

Interactive Endoscopy: A Next-Generation, Streamlined User Interface for Lung Surgery Navigation. - Paul Thienphrapa; Torre Bydlon; Alvin Chen; Prasad Vagdargi; Nicole Varble; Douglas Stanton; Aleksandra Popovic (MICCAI (5), 2019)