The following publications are possibly variants of this publication:
- Physical properties of the liver for needle insertion controlYo Kobayashi, Jun Okamoto, Masakatsu G. Fujie. iros 2004: 2960-2966 [doi]
- Physical property of liver for robot-assisted needle insertionYo Kobayashi, Jun Okamoto, Masakatsu G. Fujie. cars 2004: 1335
- Validation of Viscoelastic and Nonlinear Liver Model for Needle Insertion from in Vivo ExperimentsYo Kobayashi, Akinori Onishi, Takeharu Hoshi, Kazuya Kawamura, Makoto Hashizume, Masakatsu G. Fujie. miar 2008: 50-59 [doi]
- Physical Properties of the Liver and the Development of an Intelligent Manipulator for Needle InsertionYo Kobayashi, Jun Okamoto, Masakatsu G. Fujie. icra 2005: 1632-1639