Design of spherical parallel mechanisms for application to laparoscopic surgery. - Temei Li; Shahram Payandeh (Robotica, 2002)

Toward new designs of haptic devices for minimally invasive surgery. - Shahram Payandeh; Temei Li (CARS, 2003)

NN-based solution of forward kinematics of 3DOF parallel spherical manipulator. - Temei Li; Qingguo Li; Shahram Payandeh (IROS, 2005)