Reduction of Insertion Resistance by Means of Vibration for Catheters and Endoscopes. - Kiyoshi Yoshinaka; Ryo Sakamoto; Ken Ikeuchi (MICCAI, 2001)

Reduction of insertion resistance by means fo rotation with spiral-ribbed impeller for catheters and endoscopes. - Kiyoshi Yoshinaka; T. Semoto; Ken Ikeuchi (CARS, 2003)