Development of a Suture/Ligature Training System designed to provide quantitative information of the learning progress of trainees. - Nobuki Oshima; Muhamad Aizudding; Ryu Midorikawa; Jorge Solis 001; Yu Ogura; Atsuo Takanishi (ICRA, 2007)

Development of the suture/ligature training system WKS-2 designed to provide more detailed information of the task performance. - Nobuki Oshima; Jorge Solis 001; Yu Ogura; Kazuyuki Hatake; Atsuo Takanishi (IROS, 2007)

Integration of an evaluation function into the suture/ligature training system WKS-2R. - Nobuki Oshima; Jorge Solis 001; Hiroyuki Ishii; Noriyuki Matsuoka; Kazuyuki Hatake; Atsuo Takanishi (ICRA, 2008)

Towards understanding the suture/ligature skills during the training process using WKS-2RII. - Jorge Solis 001; Nobuki Oshima; Hiroyuki Ishii; Noriyuki Matsuoka; Kazuyuki Hatake; Atsuo Takanishi (Int. J. Comput. Assist. Radiol. Surg., 2008)

Quantitative assessment of the surgical training methods with the suture/ligature training system WKS-2RII. - Jorge Solis 001; Nobuki Oshima; Hiroyuki Ishii; Noriyuki Matsuoka; Atsuo Takanishi; Kazuyuki Hatake (ICRA, 2009)