A Model for Relations between Needle Deflection, Force, and Thickness on Needle Penetration. - Hiroyuki Kataoka; Toshikatsu Washio; Michel A. Audette; Kazuyuki Mizuhara (MICCAI, 2001)

Measurement of the Tip and Friction Force Acting on a Needle during Penetration. - Hiroyuki Kataoka; Toshikatsu Washio; Kiyoyuki Chinzei; Kazuyuki Mizuhara; Christina Simone; Allison M. Okamura (MICCAI (1), 2002)