Tendons, concentric tubes, and a bevel tip: Three steerable robots in one transoral lung access system. - Philip J. Swaney; Arthur W. Mahoney; Andria A. Remirez; Erik Lamers; Bryan I. Hartley; Richard H. Feins; Ron Alterovitz; Robert J. Webster III (ICRA, 2015)

Motion planning for a three-stage multilumen transoral lung access system. - Alan Kuntz; Luis G. Torres; Richard H. Feins; Robert J. Webster III; Ron Alterovitz (IROS, 2015)

Toward Transoral Peripheral Lung Access: Combining Continuum Robots and Steerable Needles. - Philip J. Swaney; Arthur W. Mahoney; Bryan I. Hartley; Andria A. Remirez; Erik Lamers; Richard H. Feins; Ron Alterovitz; Robert J. Webster III (J. Medical Robotics Res., 2017)