Active Forceps for Endoscopic Surgery. - Yoshihiko Nakamura; Kensuke Onuma; Hiro Kawakami; Tsutomu Nakamura (ISER, 1997)

Heartbeat Synchronization for Robotic Cardiac Surgery. - Yoshihiko Nakamura; Kousuke Kishi; Hiro Kawakami (ICRA, 2001)