Kubikzentimeter-große autonome Mikroroboter für die Mikro- und Nanowelt. - Heinz Wörn; Jörg Seyfried; Axel Bürkle; Ramon Estaña; Ferdinand Schmoeckel; Michael Thiel (AMS, 2003)

Towards a Real Micro Robotic Swarm. - Ramon Estaña; Marc Szymanski; Natalie Bender; Jörg Seyfried (ANTS Workshop, 2004)

The I-SWARM Project: Intelligent Small World Autonomous Robots for Micro-manipulation. - Jörg Seyfried; Marc Szymanski; Natalie Bender; Ramon Estaña; Michael Thiel; Heinz Wörn (Swarm Robotics, 2004)

Exploring the micro- and nanoworld with cubic centimetre-sized autonomous microrobots. - Ramon Estaña; Jörg Seyfried; Ferdinand Schmoeckel; Michael Thiel; Axel Bürkle; Heinz Wörn (Ind. Robot, 2004)

Entwicklung und Test eines moirébasierten hochgenauen Positionserfassungssystems - Ramon Estaña (2006)

The MiCRoN Robot Project. - Ramon Estaña; Heinz Wörn (AMS, 2007)

Design, modelling and control of a hyper-redundant 3-RPS parallel mechanism. - Julien Mintenbeck; Ramon Estaña (ROBIO, 2010)

Modulares Robotersystem mit flexiblen Instrumenten für die minimaltraumatische Chirurgie. - Julien Mintenbeck; Jörg Raczkowsky; Heinz Wörn; Ramon Estaña (CURAC, 2012)

Design of a modular, flexible instrument with integrated DC-motors for minimal invasive robotic surgery. - Julien Mintenbeck; Ramon Estaña; Heinz Wörn (AIM, 2013)

Flexible instrument for minimally invasive robotic surgery using rapid prototyping technology for fabrication. - Julien Mintenbeck; Marius Siegfarth; Ramon Estaña; Heinz Wörn (AIM, 2014)

EndoSnake - A Single-Arm-Multi-Port MIRS System with Flexible Instruments. - Julien Mintenbeck; Christoph Ledermann; Ramon Estaña; Heinz Wörn (IAS, 2014)

Microman - autonomous omni-directional microrobot-system for biotechnological and miniaturized automation. - Julien Mintenbeck; Michael Uhl; Ramon Estaña; Heinz Wörn (ETFA, 2015)

A three-armed slave-manipulator with snake-like instruments for laparoscopic surgery. - Julien Mintenbeck; Ramon Estaña; Heinz Wörn (ICCA, 2016)