| 2010 | IROS | Quantitative palpation to identify the material parameters of tissues using reactive force measurement and finite element simulation. | Takeharu Hoshi, Yo Kobayashi, Takahiro Miyashita, Masakatsu G. Fujie |
| 2009 | ICRA | Developing a planning method for straight needle insertion using probability-based condition where a puncture occurs. | Yo Kobayashi, Akinori Onishi, Hiroki Watanabe, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G. Fujie |
| 2009 | IROS | Parameter setting method considering variation of organ stiffness for the control method to prevent overload at fragile tissue. | Yo Kobayashi, Atsushi Kato, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G. Fujie |
| 2008 | IROS | Modeling of conditions where a puncture occurs during needle insertion considering probability distribution. | Yo Kobayashi, Akinori Onishi, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G. Fujie |
| 2007 | ICRA | Control Method for Surgical Robot to Prevent Overload at Vulnerable Tissue. | Yo Kobayashi, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G. Fujie |
| 2007 | IROS | Deformation simulation using a viscoelastic and nonlinear Organ model for control of a needle insertion manipulator. | Yo Kobayashi, Akinori Onishi, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G. Fujie |