Hiep Hoang Ly, Yoshihiro Tanaka, Tomohiro Fukuda, Akihito Sano, Grasper having tactile sensing function using acoustic reflection for laparoscopic surgery, International Journal of Computer Assisted Radiology and Surgery, vol. 12, 8, pp. 1333 – 1343, 2017, doi:10.1007/s11548-017-1592-7

Hiep Hoang Ly, Y.Tanaka, T.Fukuda, A.Sano, Grasper having tactile sensing function using acoustic reflection for laparoscopic surgery, International Journal of Computer Assisted Radiology and Surgery, vol. 12, 8, pp. 1333 – 1343, 2017, doi:10.1007/s11548-017-1592-7