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

Generic and systematic evaluation of haptic interfaces based on testbeds. - Evren Samur; Fei Wang; Ulrich Spaelter; Hannes Bleuler (IROS, 2007)

Haptic Interface Module for Hysteroscopy Simulator System. - Matthias Harders; Ulrich Spaelter; Peter Leskovský; Gábor Székely; Hannes Bleuler (MMVR, 2007)

A Haptic Interface with Motor/Brake System for Colonoscopy Simulation. - Evren Samur; Lionel Flaction; Ulrich Spaelter; Hannes Bleuler; David Hellier; Sébastien Ourselin (HAPTICS, 2008)

A Modular Simulation Framework for Colonoscopy using a New Haptic Device. - David Hellier; Evren Samur; Josh Passenger; Ulrich Spälter; Hans Frimmel; Mark Appleyard; Hannes Bleuler; Sébastien Ourselin (MMVR, 2008)

Virtual Reality Based Simulation of Hysteroscopic Interventions. - Matthias Harders; Daniel Bachofen; Markus Grassi; Michael Bajka; Ulrich Spaelter; Matthias Teschner; Bruno Heidelberger; Raimundo Sierra; Denis Steinemann; Stefan Tuchschmid; János Zátonyi; Gábor Székely (Presence Teleoperators Virtual Environ., 2008)