Hiromasa Yamashita Siyang Zuo Ken Masamune Hongen Liao Takeyoshi Dohi Nonmagnetic Rigid and Flexible Outer Sheath with Pneumatic Interlocking Mechanism for Minimally Invasive Surgical Approach. 418-425 2009 MICCAI (1) http://dx.doi.org/10.1007/978-3-642-04268-3_52 conf/miccai/2009-1 db/conf/miccai/miccai2009-1.html#YamashitaZMLD09