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

Taku Ukai, Yoshihiro Tanaka, Tomohiro Fukuda, Takuma Kajikawa, Hiroshi Miura, Yukihiro 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