Needle pose adjustment based on force information with needle puncturing robot. - Kazushi Kimura; Takayuki Matsuno; Kohei Sugiyama; Akisato Nagao; Tetsushi Kamegawa; Mamoru Minami; Takao Hiraki (SII, 2017)

Installation angle offset compensation of puncture robot based on measurement of needle by CT equipment. - Akisato Nagao; Takayuki Matsuno; Tetsushi Kamegawa; Takao Hiraki (Int. J. Mechatronics Autom., 2018)