Constrained motion control of multisegment continuum robots for transurethral bladder resection and surveillance. - Andrea Bajo; Ryan B. Pickens; S. Duke Herrell; Nabil Simaan (ICRA, 2013)

Design and Performance Evaluation of a Minimally Invasive Telerobotic Platform for Transurethral Surveillance and Intervention. - Roger E. Goldman; Andrea Bajo; Lara S. MacLachlan; Ryan B. Pickens; S. Duke Herrell; Nabil Simaan (IEEE Trans. Biomed. Eng., 2013)