Histological evaluation of tissue damage caused by rotational needle insertion. - Ryosuke Tsumura; Yusuke Takishita; Yuta Fukushima; Hiroyasu Iwata (EMBC, 2016)

Needle Insertion Control Method for Minimizing Both Deflection and Tissue Damage. - Ryosuke Tsumura; Yusuke Takishita; Hiroyasu Iwata (J. Medical Robotics Res., 2019)