Precisely positioning the tip of an instrument inserted through an orifice with a free wrist robot: application to prostate biopsies. - Rémi Chalard; David Reversat; Guillaume Morel; Pierre Mozer; Marie-Aude Vitrani (Int. J. Comput. Assist. Radiol. Surg., 2018)

Fast and accurate intracorporeal targeting through an anatomical orifice exhibiting unknown behavior. - Rémi Chalard; David Reversat; Guillaume Morel; Marie-Aude Vitrani (ICRA, 2020)

Real Time Estimator to Perform Targeted Biopsies With a Free-Wrist Robot Despite Large Deformations of the Insertion Orifice. - Rémi Chalard; Afshin Fazel; Marie-Aude Vitrani (Frontiers Robotics AI, 2021)

3D Segmentation and Visualization of Human Brain CT Images for Surgical Training - A VTK Approach. - Palak 003; Benjamin Delbos; Rémi Chalard; Richard Moreau; Arnaud Lelevé; Irene Cheng 001 (ICSM, 2022)

Multimodal Haptic Simulation for Ventriculostomy Training. - Benjamin Delbos; Rémi Chalard; Federico Di Rocco; Arnaud Lelevé; Richard Moreau (EMBC, 2023)

Interactive Manipulation and Visualization of 3D Brain MRI for Surgical Training. - Zichen Gui; Siddharth Jha; Benjamin Delbos; Richard Moreau; Rémi Chalard; Arnaud Lelevé; Irene Cheng 001 (EMBC, 2024)

Haptic Training Simulators Design Approach. - Florence Zara; Benjamin Delbos; Rémi Chalard; Richard Moreau; Fabrice Jaillet; Arnaud Lelevé (ICSM, 2024)

A Generalized Tracking Wall Approach to the Haptic Simulation of Tip Forces During Needle Insertion. - Benjamin Delbos; Rémi Chalard; Arnaud Lelevé; Richard Moreau (IEEE Trans. Haptics, 2025)