Micro-grasping Forceps Manipulator for MR-Guided Neurosurgery - Nobuhiko Miyata; Etsuko Kobayashi; Daeyoung Kim; Ken Masamune; Ichiro Sakuma; Naoki Yahagi; Takayuki Tsuji; Hiroshi Inada; Takeyoshi Dohi; Hiroshi Iseki; Kintomo Takakura (Medical Image Computing and Computer-Assisted Intervention - MICCAI 2002, 5th International Conference, Tokyo, Japan, September 25-28, 2002, Proceedings, Part I, 2002)