A surgical parallel continuum manipulator with a cable-driven grasper. - Andrew L. Orekhov; Caroline E. Bryson; John Till; Scotty Chung; D. Caleb Rucker (EMBC, 2015)

Efficient computation of multiple coupled Cosserat rod models for real-time simulation and control of parallel continuum manipulators. - John Till; Caroline E. Bryson; Scotty Chung; Andrew L. Orekhov; D. Caleb Rucker (ICRA, 2015)

Analysis and Validation of a Teleoperated Surgical Parallel Continuum Manipulator. - Andrew L. Orekhov; Caroline B. Black; John Till; Scotty Chung; D. Caleb Rucker (IEEE Robotics Autom. Lett., 2016)