An extremely robust US based focal lesion servo system incorporating a servo recovery algorithm for a NIUTS. - Norihiro Koizumi; Takakazu Funamoto; Joonho Seo; Hiroyuki Tsukihara; Hiroyuki Fukuda; Hideyo Miyazaki; Kiyoshi Yoshinaka; Takashi Azuma; Naohiko Sugita; Yukio Homma; Kazushi Numata; Yoichiro Matsumoto; et al. (IROS, 2015)

An automatic templates selection method for ultrasound guided tumor tracking. - Ryosuke Kondo; Norihiro Koizumi; Kyohei Tomita; Yu Nishiyama; Hidenori Sakanashi; Hiroyuki Fukuda; Hiroyuki Tsukihara; Kazushi Numata; Mamoru Mitusishi; Yoichiro Matsumoto (URAI, 2017)

Servoing Performance Enhancement via a Respiratory Organ Motion Prediction Model for a Non-Invasive Ultrasound Theragnostic System. - Tatsuya Fujii; Norihiro Koizumi; Atsushi Kayasuga; Dongjun Lee; Hiroyuki Tsukihara; Hiroyuki Fukuda; Kiyoshi Yoshinaka; Takashi Azuma; Hideyo Miyazaki; Naohiko Sugita; Kazushi Numata; Yukio Homma; et al. (J. Robotics Mechatronics, 2017)

Out-of-Plane Motion Detection System Using Convolutional Neural Network for US-guided Radiofrequency Ablation Therapy. - Ryosuke Kondo; Norihiro Koizumi; Yu Nishiyama; Naoki Matsumoto; Kazushi Numata (UR, 2018)

A new device for fiducial registration of image-guided navigation system for liver RFA. - Nobutaka Doba; Hiroyuki Fukuda; Kazushi Numata; Yoshiteru Hao; Kouji Hara; Akito Nozaki; Masaaki Kondo; Makoto Chuma; Katsuaki Tanaka; Shigeo Takebayashi; Norihiro Koizumi; Akira Kobayashi; et al. (Int. J. Comput. Assist. Radiol. Surg., 2018)

Deep learning based 3-dimensional liver motion estimation using 2-dimensional ultrasound images. - Tsubasa Imaizumi; Ryosuke Kondo; Kenta Kusahara; Yu Nishiyama; Hiroyuki Tsukihara; Naoki Matsumoto; Kazushi Numata; Norihiro Koizumi (CBS, 2019)

Development of bed-type ultrasound diagnosis and therapeutic robot. - Kento Kobayashi; Yudai Sasaki; Fumio Eura; Ryosuke Kondo; Kyohei Tomita; Takahiro Kobayashi; Yusuke Watanabe; Akihide Otsuka; Hiroyuki Tsukihara; Naoki Matsumoto; Kazushi Numata; Hidetoshi Nagaoka; et al. (CBS, 2019)

Estimating 3-dimensional liver motion using deep learning and 2-dimensional ultrasound images. - Shiho Yagasaki; Norihiro Koizumi; Yu Nishiyama; Ryosuke Kondo; Tsubasa Imaizumi; Naoki Matsumoto; Masahiro Ogawa; Kazushi Numata (Int. J. Comput. Assist. Radiol. Surg., 2020)

An avoiding overlap method between acoustic shadow and organ for automated ultrasound diagnosis and treatment. - Momoko Matsuyama; Norihiro Koizumi; Yu Nishiyama; Ryosuke Tsumura; Hiroyuki Tsukihara; Kazushi Numata (GCCE, 2022)

A novel complementation method of an acoustic shadow region utilizing a convolutional neural network for ultrasound-guided therapy. - Momoko Matsuyama; Norihiro Koizumi; Akihide Otsuka; Kento Kobayashi; Shiho Yagasaki; Yusuke Watanabe; Jiayi Zhou; Yu Nishiyama; Naoki Matsumoto; Hiroyuki Tsukihara; Kazushi Numata (Int. J. Comput. Assist. Radiol. Surg., 2022)

A VS ultrasound diagnostic system with kidney image evaluation functions. - Jiayi Zhou; Norihiro Koizumi; Yu Nishiyama; Kiminao Kogiso; Tomohiro Ishikawa; Kento Kobayashi; Yusuke Watanabe; Takumi Fujibayashi; Miyu Yamada; Momoko Matsuyama; Hiroyuki Tsukihara; Ryosuke Tsumura; et al. (Int. J. Comput. Assist. Radiol. Surg., 2023)

Study on method of organ section retention and tracking through deep learning in automated diagnostic and therapeutic robotics. - Takumi Fujibayashi; Norihiro Koizumi; Yu Nishiyama; Yusuke Watanabe; Jiayi Zhou; Momoko Matsuyama; Miyu Yamada; Ryosuke Tsumura; Kiyoshi Yoshinaka; Naoki Matsumoto; Hiroyuki Tsukihara; Kazushi Numata (Int. J. Comput. Assist. Radiol. Surg., 2023)

A Framework for 3D Ultrasound Reconstruction Using Robotic Ultrasound Diagnostic System. - Jiayi Zhou; Norihiro Koizumi; Yu Nishiyama; Peiji Chen; Kazushi Numata (UR, 2025)