Single-trocar assemblable retractor-hand for laparoscopic surgery. - Mikio Osaki; Toshio Takayama; Toru Omata; Toshiki Ohya; Kazuyuki Kojima; Kozo Takase; Naofumi Tanaka (ICRA, 2009)

Proposal of a Single-Trocar Assemblable Hand for Laparoscopic Surgery. - Mikio Osaki; Toshio Takayama; Toru Omata; Toshiki Ohya; Kazuyuki Kojima; Kozo Takase; Naofumi Tanaka (Adv. Robotics, 2011)

Assemblable Hand for Laparoscopic Surgery with Phased Array and Single-Element Ultrasound Probes. - Mikio Osaki; Toru Omata; Toshio Takayama (J. Robotics Mechatronics, 2013)