An active motion compensation instrument for beating heart mitral valve surgery. - Daniel T. Kettler; Richard D. Plowes; Paul M. Novotny; Nikolay V. Vasilyev; Pedro J. del Nido; Robert D. Howe (IROS, 2007)

Robotic Motion Compensation for Beating Heart Intracardiac Surgery. - Shelten G. Yuen; Daniel T. Kettler; Paul M. Novotny; Richard D. Plowes; Robert D. Howe (Int. J. Robotics Res., 2009)