Micro-grasping Forceps Manipulator for MR-Guided Neurosurgery. - Nobuhiko Miyata; Etsuko Kobayashi; Daeyoung Kim 002; Ken Masamune; Ichiro Sakuma; Naoki Yahagi; Takayuki Tsuji; Hiroshi Inada; Takeyoshi Dohi; Hiroshi Iseki; Kintomo Takakura (MICCAI (1), 2002)