Sensing elasticity from the phase difference of the stepper motor. - Toshikazu Kawai; Kensuke Nishio; Yusuke Morita; Yuji Nishizawa; Tatsuo Nakamura (EMBC, 2013)

Hands-free interface for surgical procedures based on foot movement patterns. - Toshikazu Kawai; Masanori Fukunishi; Atsushi Nishikawa; Yuji Nishizawa; Tatsuo Nakamura (EMBC, 2014)

Mobile locally operated detachable end-effector manipulator for endoscopic surgery. - Toshikazu Kawai; Myongyu Shin; Yuji Nishizawa; Yuki Horise; Atsushi Nishikawa; Tatsuo Nakamura (Int. J. Comput. Assist. Radiol. Surg., 2015)

Image recognition of triangular tissue of an organ pulled by forceps in surgical working area for laparoscope robot. - Hisa Nakasuji; Kazuki Naruki; Toshikazu Kawai; Atsushi Nishikawa; Yuji Nishizawa; Tatsuo Nakamura (EMBC, 2017)

Compact forceps manipulator with a spherical-coordinate linear and circular telescopic rail mechanism for endoscopic surgery. - Toshikazu Kawai; Hiroyuki Hayashi; Yuji Nishizawa; Atsushi Nishikawa; Ryoichi Nakamura; Hiroshi Kawahira; Masaaki Ito; Tatsuo Nakamura (Int. J. Comput. Assist. Radiol. Surg., 2017)

Locally operated assistant manipulators with selectable connection system for robotically assisted laparoscopic solo surgery. - Shohei Fukui; Toshikazu Kawai; Yuji Nishizawa; Atsushi Nishikawa; Tatsuo Nakamura; Noriyasu Iwamoto; Yuki Horise; Ken Masamune (Int. J. Comput. Assist. Radiol. Surg., 2021)

Surgical Assistant Manipulator with Rack Gear and Gear Train Mechanism for Laparoscopic Surgery. - Yosuke Tsukimoto; Toshikazu Kawai; Atsushi Nishikawa; Yuji Nishizawa; Tatsuo Nakamura (SII, 2022)

Surgical assistant manipulator with diagonal joints and multi-stage telescopic screws for laparoscopic solo surgery. - Ayumu Sasaki; Toshikazu Kawai; Yuji Nishizawa; Atsushi Nishikawa; Tatsuo Nakamura (Int. J. Comput. Assist. Radiol. Surg., 2022)