Robust Real-Time Instrument Tracking in Ultrasound Images for Visual Servoing. - Tobias Ortmaier; Marie-Aude Vitrani; Guillaume Morel; Samuel Pinault (ICRA, 2005)

Using an external registration system for daily patient repositioning in protontherapy. - Samuel Pinault; Guillaume Morel; M. Auger; R. Ferrand; C. Mabit (IROS, 2007)

Robotic co-manipulation with 6 DoF admittance control: Application to patient positioning in proton-therapy. - Julien Baumeyer; Pierre Vieyres; Sylvain Miossec; Cyril Novales; Gérard Poisson; Samuel Pinault (ARSO, 2015)