Experimentally driven design of a palpating gripper with minimally invasive surgery considerations. - Adam Spiers; Sarah Baillie; Tony Pipe; Raj Persad (HAPTICS, 2012)

μAngelo: A novel minimally invasive surgical system based on an anthropomorphic design. - Antonia Tzemanaki; Thomas M. W. Burton; David Gillatt; Chris Melhuish; Raj Persad; Anthony G. Pipe; Sanja Dogramadzi (BioRob, 2014)

Design of a multi-DOF cable-driven mechanism of a miniature serial manipulator for robot-assisted minimally invasive surgery. - Antonia Tzemanaki; Lukasz Fracczak; David Gillatt; Anthony Koupparis; Chris Melhuish; Raj Persad; Edward Rowe; Anthony G. Pipe; Sanja Dogramadzi (BioRob, 2016)

A review on the techniques used in prostate brachytherapy. - Yanlei Li; Chenguang Yang 001; Amit Bahl; Raj Persad; Chris Melhuish (Cogn. Comput. Syst., 2022)

A Dual-Arm Robotics Teleoperation System for Needle Steering in Prostate Brachytherapy. - Yanlei Li; Chenguang Yang 001; Antonia Tzemanaki; Amit Bahl; Raj Persad; Chris Melhuish (ICIT, 2024)

An ultrasound visual servoing dual-arm robotics system for needle placement in brachytherapy treatment. - Yanlei Li; Zhenyu Lu 001; Antonia Tzemanaki; Amit Bahl; Raj Persad; Chris Melhuish; Chenguang Yang 001 (Frontiers Robotics AI, 2025)