Multi-DOF Forceps Manipulator System for Laparoscopic Surgery - Mechanism Miniaturized & Evaluation of New Interface. - Ryoichi Nakamura; Takeshi Oura; Etsuko Kobayashi; Ichiro Sakuma; Takeyoshi Dohi; Naoki Yahagi; Takayuki Tsuji; Mitsuo Shimada; Makoto Hashizume (MICCAI, 2001)