A Model for Relations between Needle Deflection, Force, and Thickness on Needle Penetration. - Hiroyuki Kataoka; Toshikatsu Washio; Michel A. Audette; Kazuyuki Mizuhara (MICCAI, 2001)

Measurement of the Tip and Friction Force Acting on a Needle during Penetration. - Hiroyuki Kataoka; Toshikatsu Washio; Kiyoyuki Chinzei; Kazuyuki Mizuhara; Christina Simone; Allison M. Okamura (MICCAI (1), 2002)

Endoscope Manipulator for Trans-nasal Neurosurgery, Optimized for and Compatible to Vertical Field Open MRI. - Yoshihiko Koseki; Toshikatsu Washio; Kiyoyuki Chinzei; Hiroshi Iseki (MICCAI (1), 2002)

Robotic needle insertion: effects of friction and needle geometry. - Mark D. O'Leary; Christina Simone; Toshikatsu Washio; Kiyoshi Yoshinaka; Allison M. Okamura (ICRA, 2003)

Needle Force Sensor, Robust and Sensitive Detection of the Instant of Needle Puncture. - Toshikatsu Washio; Kiyoyuki Chinzei (MICCAI (2), 2004)

Numerical Simulations and Lab Tests for Design of MR-compatible Robots. - Kiyoyuki Chinzei; Kiyoshi Yoshinaka; Toshikatsu Washio (ICRA, 2006)

Soft Tissue Discrimination Using Magnetic Resonance Elastography with a New Elastic Level Set Model. - Bing Nan Li; Chee-Kong Chui; Sim Heng Ong; Toshikatsu Washio; Tomokazu Numano; Stephen K. Y. Chang; Sudhakar K. Venkatesh; Etsuko Kobayashi (MLMI, 2010)

Analysis of liquid reservoir effect induced by pulsed laser liquid jet. - Tatsuhiko Arafune; Takashi Kato; Etsuko Kobayashi; Toshikatsu Washio; Atsuhiro Nakagawa; Yoshikazu Ogawa; Teiji Tominaga (EMBC, 2013)

Measurement and analysis of internal stress distributions created in gelatin simulated-brain tissue by a pulsed laser-induced liquid jet. - Takashi Kato; Tatsuhiko Arafune; Toshikatsu Washio; Atsuhiro Nakagawa; Yoshikazu Ogawa; Teiji Tominaga; Ichiro Sakuma; Etsuko Kobayashi (EMBC, 2014)