Automated capsulorhexis based on a hybrid magnetic-mechanical actuation system. - Franziska Ullrich; Simone Schürle; Roel Pieters; Avraham Dishy; Stephan Michels; Bradley J. Nelson (ICRA, 2014)

Automated Device for Intravitreal Injections. - Franziska Ullrich; Stephan Michels; Matthias Becker; Bradley J. Nelson (CURAC, 2016)

A Robotic Diathermy System for Automated Capsulotomy. - Franziska Ullrich; Jonas Lussi; Vasileios Chatzopoulos; Stephan Michels; Andrew J. Petruska; Bradley J. Nelson (J. Medical Robotics Res., 2018)