Neurobot: A Special-Purpose Robot for Neurosurgery. - Brian L. Davies; Stephen Starkie; Simon J. Harris; E. Agterhuis; Volker Paul; Ludwig M. Auer (ICRA, 2000)

Simulating Minimally Invasive Neurosurgical Interventions Using an Active Manipulator. - Arne Radetzky; Michael Rudolph 003; Werner Stefanon; Stephen Starkie; Brian L. Davies; Ludwig M. Auer (MICCAI, 2000)

Advances in Active Constraints and Their Application to Minimally Invasive Surgery. - Stephen Starkie; Brian L. Davies (MICCAI, 2001)