| Multiple flexible and steerable elongate instruments for minimally invasive operations CR Carlson, NA Tanner, GJ Stahler, G Reis, E Romo, F Barbagli US Patent App. 12/637,622, 2010 | 1435 | 2010 |
| Robotic catheter system and methods FH Moll, CR Carlson, F Barbagli, DT Wallace, D Lundmark US Patent 8,190,238, 2012 | 1386 | 2012 |
| Robotic catheter system and methods FH Moll, CR Carlson, F Barbagli, DT Wallace, D Lundmark US Patent 8,498,691, 2013 | 900 | 2013 |
| Haptic rendering: introductory concepts K Salisbury, F Conti, F Barbagli IEEE computer graphics and applications 24 (2), 24-32, 2004 | 754 | 2004 |
| Robotic catheter system DT Wallace, RG Younge, MR Zinn, F Barbagli, DF Moore, GJ Stahler, ... US Patent 7,974,681, 2011 | 425 | 2011 |
| Stability of haptic rendering: Discretization, quantization, time delay, and coulomb effects N Diolaiti, G Niemeyer, F Barbagli, JK Salisbury IEEE Transactions on Robotics 22 (2), 256-268, 2006 | 402 | 2006 |
| Robotic surgical system with forward-oriented field of view guide instrument navigation F Moll, F Barbagli, C Carlson US Patent App. 11/852,255, 2008 | 385 | 2008 |
| Robotic catheter systems and methods CR Carlson, F Barbagli US Patent 8,391,957, 2013 | 353 | 2013 |
| Haptic feedback enhances force skill learning D Morris, H Tan, F Barbagli, T Chang, K Salisbury Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for …, 2007 | 326 | 2007 |
| Methods using a robotic catheter system D Wallace, R Younge, M Zinn, F Barbagli, D Moore, G Stahler, D Adams, ... US Patent App. 11/176,598, 2006 | 322 | 2006 |
| Systems and methods for performing minimally invasive procedures FH Moll, DT Wallace, GJ Stahler, CR Carlson, F Barbagli US Patent 8,409,172, 2013 | 312 | 2013 |
| Systems and methods for localizing, tracking and/or controlling medical instruments S Walker, C Sewell, J Park, P Ravindran, A Koolwal, D Camarillo, ... US Patent 9,629,595, 2017 | 287 | 2017 |
| Visuohaptic simulation of bone surgery for training and evaluation D Morris, C Sewell, F Barbagli, K Salisbury, NH Blevins, S Girod IEEE computer graphics and applications 26 (6), 48-57, 2006 | 273 | 2006 |
| Robotic instrument control system F Barbagli, CR Carlson US Patent App. 12/150,110, 2009 | 260 | 2009 |
| Chai 3d: An open-source library for the rapid development of haptic scenes F Conti, F Barbagli, D Morris, C Sewell IEEE World Haptics 38 (1), 21-29, 2005 | 212 | 2005 |
| Robotic instrument system F Barbagli US Patent App. 11/804,585, 2008 | 188 | 2008 |
| Methods and devices for controlling a shapeable instrument MJ Roelle, NA Tanner, RG Younge, C Carlson, F Barbagli, D Camarillo US Patent App. 12/823,012, 2011 | 185 | 2011 |
| Systems and methods employing force sensing for mapping intra-body tissue F Barbagli, CR Carlson, NA Tanner, CM Sewell US Patent App. 12/192,974, 2009 | 180 | 2009 |
| The CHAI libraries F Conti Eurohaptics' 03, 2003 | 163 | 2003 |
| Fiber optic instrument sensing system MJ Roelle, NA Tanner, RG Younge, C Carlson, F Barbagli, D Camarillo US Patent 8,460,236, 2013 | 159 | 2013 |
