User interface of force-controlled arm for endoscopic surgery. - Takara Kasai; Daisuke Nagao; Yohei Kuroda; Atsushi Miyamoto; Yasuhiro Matsuda; Tetsuharu Fukushima (IROS, 2017)

A Physically Based Deformable Model with Haptic Feedback for Real-Time Robotic Surgery Simulation. - Saúl Alexis Heredia Pérez; Hiromasa Masuda; Atsushi Miyamoto; Yohei Kuroda (IROS, 2023)