Performing manufacturing tasks with a mobile manipulator: from motion planning to sensor based motion control. - Joseph Mirabel; Florent Lamiraux; Thuc Long Ha; Alexis Nicolin; Olivier Stasse; Sébastien Boria (CASE, 2021)

Real-time Robotic Flexible Needle Insertion In Deformable Living Organs Using Isolated Objective Constraint. - Thuc Long Ha; Julien Bert; Hadrien Courtecuisse (IROS, 2024)

Toward Fluoroscopy Guided Robotic Needle Insertion for Radio Frequency Ablation. - Thuc Long Ha; Juan Verde; Julien Bert; Hadrien Courtecuisse (Comput. Animat. Virtual Worlds, 2025)