Developing a method to plan robotic straight needle insertion using a probability-based assessment of puncture occurrence - Yo Kobayashi; Akinori Onishi; Hiroki Watanabe; Takeharu Hoshi; Kazuya Kawamura; Masakatsu G. Fujie (Adv. Robotics, 2013)

Development of an integrated needle insertion system with image guidance and deformation simulation - Yo Kobayashi; Akinori Onishi; Hiroki Watanabe; Takeharu Hoshi; Kazuya Kawamura; Makoto Hashizume; Masakatsu G. Fujie (Comput. Medical Imaging Graph., 2010)

Development and validation of a viscoelastic and nonlinear liver model for needle insertion - Yo Kobayashi; Akinori Onishi; Takeharu Hoshi; Kazuya Kawamura; Makoto Hashizume; Masakatsu G. Fujie (Int. J. Comput. Assist. Radiol. Surg., 2009)

Developing a planning method for straight needle insertion using probability-based condition where a puncture occurs - Yo Kobayashi; Akinori Onishi; Hiroki Watanabe; Takeharu Hoshi; Kazuya Kawamura; Masakatsu G. Fujie (2009 IEEE International Conference on Robotics and Automation, ICRA 2009, Kobe, Japan, May 12-17, 2009, 2009)

Modeling of conditions where a puncture occurs during needle insertion considering probability distribution - Yo Kobayashi; Akinori Onishi; Takeharu Hoshi; Kazuya Kawamura; Masakatsu G. Fujie (2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, September 22-26, 2008, Acropolis Convention Center, Nice, France, 2008)

Validation of Viscoelastic and Nonlinear Liver Model for Needle Insertion from in Vivo Experiments - Yo Kobayashi; Akinori Onishi; Takeharu Hoshi; Kazuya Kawamura; Makoto Hashizume; Masakatsu G. Fujie (Medical Imaging and Augmented Reality, 4th International Workshop, MIAR 2008, Tokyo, Japan, August 1-2, 2008, Proceedings, 2008)

Deformation simulation using a viscoelastic and nonlinear Organ model for control of a needle insertion manipulator - Yo Kobayashi; Akinori Onishi; Takeharu Hoshi; Kazuya Kawamura; Masakatsu G. Fujie (2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29 - November 2, 2007, Sheraton Hotel and Marina, San Diego, California, USA, 2007)