Balloon-based manipulator with multiple linkages for intrauterine surgery. - Noriaki Yamanaka; Kiyoshi Matsumiya; Ken Masamune; Takeyoshi Dohi; Hiromasa Yamashita; Toshio Chiba; Hongen Liao (IROS, 2007)

Surgical Manipulator with Balloon for Stabilizing Fetus in Utero under Ultrasound Guidance. - Noriaki Yamanaka; Hiromasa Yamashita; Kiyoshi Matsumiya; Hongen Liao; Ken Masamune; Toshio Chiba; Takeyoshi Dohi (MIAR, 2008)

MRI-Compatible Rigid and Flexible Outer Sheath Device with Pneumatic Locking Mechanism for Minimally Invasive Surgery. - Siyang Zuo; Noriaki Yamanaka; Ikuma Sato; Ken Masamune; Hongen Liao; Kiyoshi Matsumiya; Takeyoshi Dohi (MIAR, 2008)

A Coaxial Laser Endoscope with Arbitrary Spots in Endoscopic View for Fetal Surgery. - Noriaki Yamanaka; Hiromasa Yamashita; Ken Masamune; Hongen Liao; Toshio Chiba; Takeyoshi Dohi (MICCAI (1), 2009)

Polarizing Beam Splitter Endoscope for Simultaneously Observing Front and Lateral View. - Tomoya Tsuruyama; Noriaki Yamanaka; Kenta Kuwana; Ken Masamune; Keri Kim; Takeyoshi Dohi (ACCAS, 2011)

A Laser Steering Endoscope with High Laser Transmission Efficiency. - Noriaki Yamanaka; Ken Masamune; Kenta Kuwana; Hiromasa Yamashita; Toshio Chiba; Takeyoshi Dohi (ACCAS, 2011)