Fowler, D. L., Hu, T., Nadkarni, T., Allen, P. K., & Hogle, N. J. (2010). Initial trial of a stereoscopic, insertable, remotely controlled camera for minimal access surgery. Surgical endoscopy, 24(1), 9-15.

Austin Reiter, Peter K Allen and Tao Zhao, Appearance learning for 3D tracking of robotic surgical tools, The International Journal of Robotics Research November, 2013.

Reiter, A., Bajo, A., Iliopoulos, K., Simaan, N., and Allen, P.K., Learning-Based Configuration Estimation of a Multi-Segment Continuum Robot , IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), June 24-27, 2012, Rome, Italy

Austin Reiter and Peter K. Allen, An Online Learning Approach To In-Vivo Tracking Using Synergistic Features, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems October 18-22, 2010, Taipei, Taiwan

Tie Hu, Peter K. Allen, Nancy Hogle and Dennis Fowler Insertable Surgical Imaging Device with Pan, Tilt, Zoom, and Lighting, International Journal of Robotics Research, Vol. 28, No. 10, 1373-1386 (2009).

Tie Hu, Peter K. Allen, Tejas Nadkarni, Nancy J. Hogle and Dennis L. Fowler, Insertable Stereoscopic 3D Surgical Imaging Device with Pan and Tilt, Proc. IEEE BIOROB, Oct. 20, 2008.

Nancy J. Hogle, Tie Hu, Peter K. Allen and Dennis L. Fowler Comparison of Monoscopic Insertable, Remotely Controlled Imaging Device With a Standard, Surgical Innovation 2008 15:271.

Tie Hu, Peter K. Allen, Nancy J. Hogle and Dennis L. Fowler, Insertable Surgical Imaging Device with Pan, Tilt, Zoom, and Lighting, IEEE Int. Conference on Robotics and Automation, May 23, 2008, Pasadena.

Tie Hu, Peter K. Allen and Dennis L. Fowler, In-Vivo Pan/Tilt Endoscope with Integrated Light Source, IROS 2007, San Diego, Oct. 29- Nov. 2