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  1. Butler EJ, Hammond-Oakley R, Chawarski S, Gosline AH, Codd P, Anor T, Madsen JR, Dupont PE, Lock J. Robotic Neuro-Endoscope with Concentric Tube Augmentation. Rep U S. 2012. View abstract
  2. Bedell C, Lock J, Gosline A, Dupont PE. Design Optimization of Concentric Tube Robots Based on Task and Anatomical Constraints. IEEE Int Conf Robot Autom. 2011 May 09; 2011:398-403. View abstract
  3. Lock J, Dupont PE. Friction Modeling in Concentric Tube Robots. IEEE Int Conf Robot Autom. 2011; 1139-1146. View abstract
  4. Lock J, Laing G, Mahvash M, Dupont PE. Quasistatic Modeling of Concentric Tube Robots with External Loads. Rep U S. 2010 Dec 03; 2010:2325-2332. View abstract
  5. Dupont PE, Lock J, Itkowitz B. Real-time Position Control of Concentric Tube Robots. IEEE Int Conf Robot Autom. 2010 May 03; 2010:562-568. View abstract
  6. Dupont PE, Lock J, Itkowitz B, Butler E. Design and Control of Concentric-Tube Robots. IEEE Trans Robot. 2010 Apr 01; 26(2):209-225. View abstract
  7. Dupont PE, Lock J, Butler E. Torsional Kinematic Model for Concentric Tube Robots. IEEE Int Conf Robot Autom. 2009 May 12; 2009:2964-2971. View abstract