Ein 3D-Ultraschallnavigationssystem für die computer-assistierte Chirurgie im Kopf-Halsbereich - Visionen und Konzepte. - Thorsten Brennecke; Jessica Burgner; Lüder Alexander Kahrs; Christian Günther; Tim Beyl; Jörg Raczkowsky; Steffen H. Tretbar; Thomas Klenzner; Jörg Schipper; Heinz Wörn (CURAC, 2010)

OP: Sense - Eine Rapid Development Umgebung für die Entwicklung in der robotergestützten Chirurgie. - Holger Mönnich; Philip Nicolai; Tim Beyl; Jörg Raczkowsky; Heinz Wörn (CURAC, 2011)

A supervision system for the intuitive usage of a telemanipulated surgical robotic setup. - Holger Mönnich; Philip Nicolai; Tim Beyl; Jörg Raczkowsky; Heinz Wörn (ROBIO, 2011)

OP: Sense - An integrated rapid development environment in the context of robot assisted surgery and operation room sensing. - Philip Nicolai; Tim Beyl; Holger Mönnich; Jörg Raczkowsky; Heinz Wörn (ROBIO, 2011)

Ein KinectTM basiertes Überwachungssystem für Workflowerkennung und Gestensteuerung im Operationssaal. - Tim Beyl; Philip Nicolai; Jörg Raczkowsky; Heinz Wörn (CURAC, 2012)

Haptic Feedback in OP: Sense - Augmented Reality in Telemanipulated Robotic Surgery. - Tim Beyl; Philip Nicolai; Holger Mönnich; Jörg Raczkowsky; Heinz Wörn (MMVR, 2012)

Ein prozessbasiertes Controllerkonzept zur Steuerung eines digitalen OP-Saals am Beispiel von OP: Sense. - Tim Beyl; Luzie Schreiter; Jörg Raczkowsky; Heinz Wörn (CURAC, 2013)

Multi kinect people detection for intuitive and safe human robot cooperation in the operating room. - Tim Beyl; Philip Nicolai; Jörg Raczkowsky; Heinz Wörn; Mirko Daniele Comparetti; Elena De Momi (ICAR, 2013)

Probalilistische Echtzeit-Situationserkennung im Operationssaal am Beispiel von OP: Sense. - Luzie Schreiter; Lisa Senger; Tim Beyl; Elmar Berghöfer; Jörg Raczkowsky; Heinz Wörn (CURAC, 2014)

Probabilistic Situation Detection for Human-Robot Interaction in an OP Lab Environment. - Luzie Schreiter; Elmar Berghöfer; Tim Beyl; Lisa Senger; Jörg Raczkowsky; Frank Kirchner; Heinz Wörn (CURAC, 2015)

Telemanipulation with force-based display of proximity fields. - Stefan Escaida Navarro; Franz Heger; Felix Putze; Tim Beyl; Tanja Schultz; Björn Hein (IROS, 2015)

Workflow-based Context-aware Control of Surgical Robots. - Tim Beyl (Dr. Hut, 2015)

3D Perception Technologies for Surgical Operating Theatres. - Tim Beyl; Luzie Schreiter; Philip Nicolai; Jörg Raczkowsky; Heinz Wörn (MMVR, 2016)

Time-of-flight-assisted Kinect camera-based people detection for intuitive human robot cooperation in the surgical operating room. - Tim Beyl; Philip Nicolai; Mirko Daniele Comparetti; Jörg Raczkowsky; Elena De Momi; Heinz Wörn (Int. J. Comput. Assist. Radiol. Surg., 2016)