Three-axis force visualizing system for fiberscopes utilizing highly elastic fabric. - Takanobu Iwai; Yoshinori Fujihira; Lina Wakako; Hiroyuki Kagawa; Takeshi Yoneyama; Tetsuyou Watanabe (AIM, 2014)

Force Sensor Attachable to Thin Fiberscopes/Endoscopes Utilizing High Elasticity Fabric. - Tetsuyou Watanabe; Takanobu Iwai; Yoshinori Fujihira; Lina Wakako; Hiroyuki Kagawa; Takeshi Yoneyama (Sensors, 2014)

Silicone retractor with embedded force-sensing function for attachment to surgical suction pipes. - Toshio Koyama; Takanobu Iwai; Takeshi Yoneyama; Hiroyuki Kagawa; Yutaka Hayashi; Mitsutoshi Nakada; Tetsuyou Watanabe (AIM, 2015)

Visualization method based stiffness sensing system for endoscopes. - Takanobu Iwai; Toshio Koyama; Hiroyuki Kagawa; Takeshi Yoneyama; Tetsuyou Watanabe (EMBC, 2015)