Assemblable three fingered five-DOF hand for laparoscopic surgery. - Ritsuya Ohshima; Toshio Takayama; Toru Omata; Toshiki Ohya; Kazuyuki Kojima; Kozo Takase; Naofumi Tanaka (ICRA, 2008)

Single-trocar assemblable retractor-hand for laparoscopic surgery. - Mikio Osaki; Toshio Takayama; Toru Omata; Toshiki Ohya; Kazuyuki Kojima; Kozo Takase; Naofumi Tanaka (ICRA, 2009)

Proposal of a Single-Trocar Assemblable Hand for Laparoscopic Surgery. - Mikio Osaki; Toshio Takayama; Toru Omata; Toshiki Ohya; Kazuyuki Kojima; Kozo Takase; Naofumi Tanaka (Adv. Robotics, 2011)