Fujio Tajima Kousuke Kishi Kouji Nishizawa Kazutoshi Kan Yasuhiro Nemoto Haruo Takeda Shinichiro Umemura Hiroshi Takeuchi Masakatsu G. Fujie Takeyoshi Dohi Ken-ichi Sudo Shin-ichi Takamoto Development of MR Compatible Surgical Manipulator toward a Unified Support System for Diagnosis and Treatment of Heart Disease. 83-90 2002 conf/miccai/2002-1 MICCAI (1) http://link.springer.de/link/service/series/0558/bibs/2488/24880083.htm db/conf/miccai/miccai2002-1.html#TajimaKNKNTUTFDST02