Softness sensing probe with multiple acoustic paths for laparoscopic surgery, International Journal of Computer Assisted Radiology and Surgery, vol. 15, no. 9, pp. 1537 – 1547, 2020, doi:10.1007/s11548-020-02207-x
T.Ukai, Y.Tanaka, T.Fukuda, T.Kajikawa, H.Miura, Y.Terada, Softness sensing probe with multiple acoustic paths for laparoscopic surgery, International Journal of Computer Assisted Radiology and Surgery, vol. 15, no. 9, pp. 1537 – 1547, 2020, doi:10.1007/s11548-020-02207-x