Futoshi Ohara

MRI Compatible Robot for Needle Placement Therapy with Accurate Registration

Ken Masamune, Hongen Liao, Makoto Hashizume, 2007 .

Design and evaluation : Navigation in MR-compatible robot system for needle insertion

Ken Masamune, Makoto Hashizume, Takeyoshi Dohi, 2005 .

Needle Guiding Robot with Five-Bar Linkage for MR-Guided Thermotherapy of Liver Tumor

Nobuhiko Hata, Makoto Hashizume, Takeyoshi Dohi, 2004, MICCAI.

Needle Guiding Robot with Five-bar linkage for MR Guided Thermotherapy of Liver Tumor

Nobuhiko Hata, Makoto Hashizume, Futoshi Ohara, 2004 .