| Control system configured to compensate for non-ideal actuator-to-joint linkage characteristics in a medical robotic system N Diolaiti, DQ Larkin, TG Cooper, B Schena US Patent 8,419,717, 2013 | 536 | 2013 |
| Minimally invasive surgical system N Diolaiti US Patent 7,725,214, 2010 | 519 | 2010 |
| 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 | 333 | 2006 |
| Contact impedance estimation for robotic systems N Diolaiti, C Melchiorri, S Stramigioli IEEE Transactions on Robotics 21 (5), 925-935, 2005 | 304 | 2005 |
| Medical robotic system with coupled control modes N Diolaiti, DQ Larkin, CJ Mohr US Patent 8,620,473, 2013 | 232 | 2013 |
| Medical robotic system having entry guide controller with instrument tip velocity limiting N Diolaiti US Patent 8,414,469, 2013 | 193 | 2013 |
| Teleoperation of a mobile robot through haptic feedback N Diolaiti, C Melchiorri IEEE International Workshop HAVE Haptic Virtual Environments and Their, 67-72, 2002 | 175 | 2002 |
| Medical robotic system with image referenced camera control using partitionable orientational and translational modes N Diolaiti US Patent 9,179,832, 2015 | 142 | 2015 |
| Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide T Mustufa, N Diolaiti, DQ Larkin US Patent 10,258,425, 2019 | 120 | 2019 |
| Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide N Diolaiti US Patent 9,138,129, 2015 | 118* | 2015 |
| Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide D Gomez, N Diolaiti, DQ Larkin, PE Lilagan, P Mitra, T Mustafa US Patent 9,084,623, 2015 | 115 | 2015 |
| Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip N Diolaiti, DQ Larkin, D Gomez, T Mustafa, PW Mohr, P Lilagan US Patent 8,864,652, 2014 | 114 | 2014 |
| Smooth control of an articulated instrument across areas with different work space conditions N Diolaiti, PE Lilagan US Patent 8,903,546, 2014 | 103 | 2014 |
| Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument N Diolaiti, PE Lilagan US Patent 8,918,211, 2014 | 97 | 2014 |
| Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide ME Tognaccini, DH Gomez, N Diolaiti, T Mustufa, P Mitra, PE Lilagan US Patent 9,089,256, 2015 | 92 | 2015 |
| Medical robotic system with coupled control modes N Diolaiti, DQ Larkin, CJ Mohr US Patent 9,333,042, 2016 | 86 | 2016 |
| Control of medical robotic system manipulator about kinematic singularities N Diolaiti, GM Prisco US Patent 8,768,516, 2014 | 74 | 2014 |
| Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose N Diolaiti, PE Lilagan US Patent 9,492,927, 2016 | 66 | 2016 |
| The effect of quantization and coulomb friction on the stability of haptic rendering N Diolaiti, G Niemeyer, F Barbagli, JK Salisbury, C Melchiorri First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for …, 2005 | 63 | 2005 |
| Haptic tele-operation of a mobile robot N Diolaiti, C Melchiorri IFAC Proceedings Volumes 36 (17), 521-526, 2003 | 58 | 2003 |
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