Depth Camera Calibration and Knife Tip Position Estimation for Liver Surgery Support System. - Masanao Koeda; Akio Tsukushi; Hiroshi Noborio; Katsuhiko Onishi; Kiminori Mizushino; Takahiro Kunii; Kaoru Watanabe; Masaki Kaibori; Kosuke Matsui; Masanori Kwon (HCI (27), 2015)