Magnetic Model Calibration for Tetherless Surgical Needle Manipulation using Zernike Polynomial Fitting. - Suraj Raval; Onder Erin; Xiaolong Liu 002; Lamar O. Mair; Will Pryor; Yotam Barnoy; Irving N. Weinberg; Axel Krieger; Yancy Diaz-Mercado (BIBE, 2021)

Localization and Control of Magnetic Suture Needles in Cluttered Surgical Site with Blood and Tissue. - Will Pryor; Yotam Barnoy; Suraj Raval; Xiaolong Liu 002; Lamar O. Mair; Daniel Lerner; Onder Erin; Gregory D. Hager; Yancy Diaz-Mercado; Axel Krieger (IROS, 2021)

Going Hands-Free: MagnetoSuture™ for Untethered Guided Needle Penetration of Human Tissue Ex Vivo. - Lamar O. Mair; Sagar Chowdhury; Xiaolong Liu 002; Onder Erin; Oleg Udalov; Suraj Raval; Benjamin V. Johnson; Sahar Jafari; David J. Cappelleri; Yancy Diaz-Mercado; Axel Krieger; Irving N. Weinberg (Robotics, 2021)

Enhanced Accuracy in Magnetic Actuation: Closed-Loop Control of a Magnetic Agent With Low-Error Numerical Magnetic Model Estimation. - Onder Erin; Suraj Raval; Trevor J. Schwehr; Will Pryor; Yotam Barnoy; Adrian Bell; Xiaolong Liu 002; Lamar O. Mair; Irving N. Weinberg; Axel Krieger; Yancy Diaz-Mercado (IEEE Robotics Autom. Lett., 2022)

Mitigating Singularities in Control of Magnetic Capsule Endoscopes Using a Novel Nested Electromagnetic Coil System. - Xinhao Chen; Anuruddha Bhattacharjee; Lamar O. Mair; Suraj Raval; Pranav Addepalli; Onder Erin; Adrian Bell; Yancy Diaz-Mercado; Axel Krieger (J. Medical Robotics Res., 2024)

Suture Thread Modeling Using Control Barrier Functions for Autonomous Surgery. - Kimia Forghani; Suraj Raval; Lamar O. Mair; Axel Krieger; Yancy Diaz-Mercado (CoRR, 2025)