Ultrasound-based navigation of robotic drilling at the lateral skull base. - Philipp A. Federspil; Steffen H. Tretbar; U. W. Geisthoff; B. Plinkert; Peter K. Plinkert (CARS, 2003)

Improved ultrasound-based navigation for robotic drilling at the lateral skull base. - U. W. Geisthoff; Steffen H. Tretbar; Philipp A. Federspil; Peter K. Plinkert (CARS, 2004)

Robot-Based 3D Ultrasound Scanning and Registration with Infrared Navigation Support. - Philipp J. Stolka; Michel Waringo; Dominik Henrich; Steffen H. Tretbar; Philipp A. Federspil (ICRA, 2007)

Accuracy of Ultrasound Measurements for Skull Bone Thickness Using Coded Signals. - Steffen H. Tretbar; Peter K. Plinkert; Philipp A. Federspil (IEEE Trans. Biomed. Eng., 2009)