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)

Incompressible liquid based force sensible silicone retractor attachable to surgical suction instruments. - Toshio Koyama; Takeshi Yoneyama; Mitsutoshi Nakada; Tetsuyou Watanabe (AIM, 2016)

Force-Sensing Silicone Retractor for Attachment to Surgical Suction Pipes. - Tetsuyou Watanabe; Toshio Koyama; Takeshi Yoneyama; Mitsutoshi Nakada (Sensors, 2016)

A Force-Visualized Silicone Retractor Attachable to Surgical Suction Pipes. - Tetsuyou Watanabe; Toshio Koyama; Takeshi Yoneyama; Mitsutoshi Nakada (Sensors, 2017)