A single-use haptic palpation probe for locating subcutaneous blood vessels in robot-assisted minimally invasive surgery. - Stephen McKinley; Animesh Garg; Siddarth Sen; Rishi Kapadia; Adithyavairavan Murali; Kirk A. Nichols; Susan Lim; Sachin Patil; Pieter Abbeel; Allison M. Okamura; Ken Goldberg (CASE, 2015)

Learning by observation for surgical subtasks: Multilateral cutting of 3D viscoelastic and 2D Orthotropic Tissue Phantoms. - Adithyavairavan Murali; Siddarth Sen; Ben Kehoe; Animesh Garg; Seth McFarland; Sachin Patil; W. Douglas Boyd; Susan Lim; Pieter Abbeel; Kenneth Y. Goldberg (ICRA, 2015)