A 4-dof haptic device for hysteroscopy simulation. - Ulrich Spaelter; Thomas Moix; Dejan Ilic; Hannes Bleuler; Michael Bajka (IROS, 2004)

A Haptic Interface for Interventional Radiology. - Dejan Ilic; Thomas Moix; Blaise Fracheboud; Hannes Bleuler; Ivan Vecerina (ICRA, 2005)