Resercher, Yo Kobayashi, English page

Yo Kobayashi, Ph.D.

Birth day: 12, June, 1981

  • present post:

  • -Associate professor, Department of Mechanical Science & Bioengineering, Graduate school of Engineering Science, Osaka University

    • Concurrent post:

    • -Visiting researcher, Future Robotics Organization , Waseda University, Japan

    • Career ： Yo Kobayashi was born in 1981. He received the BS and MS degrees from the Graduate School of Science and Engineering, Waseda University, Tokyo, Japan, in 2004 and 2005, and the PhD degree in engineering from Waseda University in 2008. He was a Visiting Research Associate in the Graduate School of Science and Engineering, Waseda University, from 2005 to 2006. He was a recipient of a Japan Society for the Promotion of Science (JSPS) Research Fellowship for Young Scientists during 2007. During 2008, he was a Research Associate in the Institute for Biomedical Engineering, Waseda University. He has been a Research Associate during 2009 and Lecturer (junior researcher) with the Faculty of Science and Engineering since 2010, Associate ​Professor (Senior researcher), Future Robotics Organization/Faculty of Science and Engineering, Waseda University since 2012. He is now Associate Proffesor, Graduate School of Engineering Science, Osaka University. His current research interests include Soft Biological Tissue modeling, medical robotics and rehabilitation systems.

Selected Publications

  • Yo Kobayashi, Naomi Okamura, Mariko Tsukune, Masakatsu G. Fujie, Masao Tanaka, "Non-minimum phase viscoelastic properties of soft biological tissues", Journal of the Mechanical Behavior of Biomedical Materials, vol. 110, 103795, 2020 : https://doi.org/10.1016/j.jmbbm.2020.103795

  • Yo Kobayashi, Mariko Tsukune, Tomoyuki Miyashita, and Masakatsu G. Fujie, "Simple empirical model for identifying rheological properties of soft biological tissues", PHYSICAL REVIEW E, 95, 022418, 2017 : http://journals.aps.org/pre/abstract/10.1103/PhysRevE.95.022418

  • Yo Kobayashi, Ryutaro Hamano, Jaesung Hong, Hiroki Watanabe, Kazutaka Toyoda, Makoto Hashizume, Masakatsu G. Fujie, “Use of Puncture Force Measurement to Investigate the Conditions of Blood Vessel Needle Insertion”, Medical Engineering & Physics, 35(5):684-9, 2013, http://www.sciencedirect.com/science/article/pii/S1350453312003311

  • Yo Kobayashi, Akinori Onishi, Hiroki Watanabe, Takeharu Hoshi, Kazuya Kawamura and Masakatsu G. Fujie, “Developing a Method to Plan Robotic Straight Needle Insertion using a Probability-based Assessment of Puncture Occurrence”, Advanced Robotics, Vol. 27(6),417-430, 2013, http://www.tandfonline.com/doi/abs/10.1080/01691864.2013.756385#.Upl0lsSGrT8

  • Yo Kobayashi, Makiko Suzuki, Atsushi Kato, Maya Hatano, Kozo Konishi, Makoto Hashizume and Masakatsu G. Fujie, “Enhanced Targeting in Breast Tissue using a Robotic Tissue Preloading-Based Needle Insertion System”, IEEE Transaction on Robotics, Vol.28(3), pp. 710-722, 2012, http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6144750

  • Yo Kobayashi, Jaesung Hong, Ryutaro Hamano, Kaoru Okada, Masakatsu G. Fujie, Makoto Hashizume, “Development of a Needle Insertion Manipulator for Central Venous Catheterization”, International Journal of Medical Robotics and Computer Assisted Surgery, 8(1):34-44, 2011, http://onlinelibrary.wiley.com/doi/10.1002/rcs.420/abstract

  • Yo Kobayashi, Akinori Onishi, Takeharu Hoshi, Kazuya Kawamura, Makoto Hashizume, Masakatsu G. Fujie, " Development and validation of a viscoelastic and nonlinear liver model for needle insertion", International Journal of Computer Assisted Radiology and Surgery (IJCARS), Vol. 4, No. 1, pp.53-63, 2009, http://link.springer.com/article/10.1007%2Fs11548-008-0259-9

Selected presentations

・"Mechanical model of soft biological tissues for computer aided surgery", Keynote Speaker, The 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’17), 2017.07.14

E-mail:

yo.kobayashi@me.es.osaka-u.ac.jp

HP etc:

Google scholar: http://scholar.google.com/citations?user=nzant4YAAAAJ&hl=en

Scoupus: http://www.scopus.com/authid/detail.url?authorId=55516137200

Linkdin: http://jp.linkedin.com/in/yokobayashi

Research Gate: https://www.researchgate.net/profile/Yo_Kobayashi/

Career

2005-2006: Visiting Research Associate, Graduate school of Science and Engineering, Waseda University

2007: JSPS Research Fellowship for Young Scientists

2008: Research Associate, Institute for Biomedical Engineering, Waseda University

2009: Research Associate, Faculty of Science and Engineering, Waseda University

2010-2011: Lecturer (Junior Researcher), Faculty of Science and Engineering, Waseda University

2010 October-2011 January: Visiting researcher, LIRMM, Montpellier, France

2012- 2015 September: Associate Professor (Senior Researcher), Faculty of Science and Engineering, Waseda University

2015 October - 2016 July: Associate Professor (Senior Researcher), Future Robotics Organization, Waseda University

2016 August - Present: Associate professor, Department of Mechanical Science & Bioengineering, Graduate school of Engineering Science,Osaka University

***Last update 2016/08/08***

Major Award

  • 2015 R&D 100 Award (in the IT/Electrical category), (one of the Principal Developers)「"Higher Sensitivity Tactile-film System for Wearable Orthosis (HSTS)", Industrial Technology Research Institute, Waseda University, Kikuchi Seisakusho Co. Ltd.-」

  • The Young Scientists’ Prize, Prizes for Science and Technology, The Commendation for Science and Technology by the Minister of Education, Culture, Sports, Science and Technology, 2015 -Awarded for research on medical robot systems and physical biological models- http://www.waseda.jp/top/en-news/26221

  • JSME Young Engineers Award, 2015 : http://www.jsme.or.jp/English/ -Model for Rheological Properties of Biological Tissue and Control Method of Medical Robot- http://www.jsme.or.jp/English/awards/awardsy14.htm

  • IPCAI2015 Best Paper Award Finalist 「Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Yasutaka Nakashima and Masakatsu Fujie, "Brain Activation in Parietal area during Manipulation with a Surgical Robot Simulator", Proceeding of The 6th International Conference on Information Processing in Computer-Assisted Interventions (IPCAI'15), pp. 783-790,2015」

  • ACCAS2014 Best Paper Award 「Sangha Song, Inko Elgezua, Yo Kobayashi, Masakatsu G. Fujie, "Light Propagation Simulation on Multi-layer Tissue with a Tilted Boundary using a Radial-beam LED for Liposuction", The 10th Asian Conference on Computer Aided Surgery(ACCAS2014), pp. 78-79, 2014」

  • SCIS-ISIS2012 Best Application Award 「Yinlai Jiang, Shuoyu Wang, Kenji Ishida, Yo Kobayashi and Masakatsu Fujie, “User Directional Intention Identification for a Walking Support Walker - Adaptation to Individual Differences with Fuzzy Learning”, in Proceedings of The 6th International Conference on Soft Computing and Intelligent Systems and the 13th International Symposium on Advanced Intelligent Systems (SCIS-ISIS 2012), pp.1207 - 1210, 2012」

  • IEEE Biomedical Robotics and Biomechatronics 2008 Best paper award Finalist「Takeshi Ando, Misato Nihei, Yo Kobayashi, Yuzo Kaneshige, Takenobu Inoue and Masaktsu G. Fujie, “A Steering System of a New Mobility-Aid Vehicle: Tread-Walk” , in Proceedings of 2008 IEEE Biomedical Robotics and Biomechatronics (BioRob’08), pp.415-420, 2008」

Major grant


Journal Articles are below

072. Chiyo Ootaki, Yo Kobayashi, Yuki Koyama, "Use of Continuous Electrical Impedance Measurement for Accurate Nerve Block in Rabbits", Pain Medicine, 2021

071. Tatsuya Arakawa, Tomohiro Otani, Yo Kobayashi, Masao Tanaka, "2-D Forward dynamics simulation of gait adaption against muscle weakness in elderly gait", Gait & Posture, 2021

070. Tomohiro Otani, Taiki Koga, Kazunori Nozaki, Yo Kobayashi, Masao Tanaka, "Mechanical effects of distributed fibre orientation in the periodontal ligament of an idealized geometry", Computer Methods in Biomechanics and Biomedical Engineering, 2020

069. Satoshi Miura, Junichi Takazawa, Yo Kobayashi , Masakatsu G. Fujie, "Brain–machine interface using functional electrical stimulation and motion-related cortical potentials identified by a support vector machine", IEEE Transactions on Mechatronics, 2020 : https://ieeexplore.ieee.org/document/9163303

068. Tomohiro Otani, Yo Kobayashi, Masao Tanaka, "Computational Study of Kinematics of the Anterior Cruciate Ligament Double-Bundle Structure during Passive Knee Flexion-Extension", Medical Engineering & Physics, 2020 : https://www.sciencedirect.com/science/article/abs/pii/S1350453320301132

067. Tamon Miyake, Yo Kobayash, Masakatsu G Fujie, Shigeki Sugano, "Gait Event Detection Based on Inter-joint Coordination using Only Angular Information ", Advanced Robotics, 2020 : https://www.tandfonline.com/doi/full/10.1080/01691864.2020.1803126

066. Yo Kobayashi, Naomi Okamura, Mariko Tsukune, Masakatsu G. Fujie, Masao Tanaka, "Non-minimum phase viscoelastic properties of soft biological tissues", Journal of the Mechanical Behavior of Biomedical Materials, vol. 110, 103795, 2020 : https://doi.org/10.1016/j.jmbbm.2020.103795

065. Sachine Yoshida, Yoshihiro Kawahara, Takuya Sasatani, Ken Kiyono, Yo Kobayashi, Hiromasa Funato, "Infants show physiological responses specific to parental hugs", iScience, 2020 : https://www.sciencedirect.com/science/article/pii/S2589004220301802?via%3Dihub

064. Satoshi Miura, Yuki Yokoo, Yasutaka Nakashima, Yoshikazu Ogaya, Misato Nihei, Takeshi Ando, Yo Kobayashi, Masakatsu G. Fujie, "Determination of the Gain for a Walking Speed Amplifying Belt Using Brain Activity", IEEE Transactions on Human-Machine Systems, 2020

063. Kazuya Kawamura, Hiroto Seno, Yo Kobayashi, Satoshi Ieiri, Makoto Hashizume, Masakatsu G. Fujie, "Mechanical design optimization using human-in-the-loop simulator for development of pediatric surgical robot", Applied Sciences, 2019

061: Satoshi Miura, Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie, "Using Brain Activation to Evaluate Arrangements Aiding Hand–Eye Coordination in Surgical Robot Systems", IEEE Transactions on Biomedical Engineering, 2019 : https://ieeexplore.ieee.org/document/8586937

060: Tamon Miyake, Yo Kobayash, Masakatsu G Fujie, Shigeki Sugano, "One-DOF Wire-driven Robot Assisting Both Hip and Knee Flexion Motion", Journal of Robotics and Mechatronics, 2019

059: Satoshi Miura, Ryota Fukumoto, Yo Kobayashi, Masakatsu G. Fujie, "Modeling optimizes the effect of the vertical stripe illusion for foot clearance on upstairs", Journal of Biomechanical Science and Engineering (JBSE), 18-‌00216, 2018

057: Tamon MIYAKE, Yo KOBAYASHI, Masakatsu G FUJIE, Shigeki SUGANO, "Effect of the Timing of Force Application on the Toe Trajectory in the Swing Phase for a Wire-driven Gait Assistance Robot", Mechanical Engineering Journal, 17-00660, 2018

https://www.jstage.jst.go.jp/article/mej/advpub/0/advpub_17-00660/_article

056: Akira KATO, Yuya MATSUMOTO, Ryu KATO, Yo KOBAYASHI, Hiroshi YOKOI, Masakatsu G. FUJIE and Shigeki SUGANO, "Estimating wrist joint angle with limited skin deformation information", Journal of Biomechanical Science and Engineering, 2018

https://www.jstage.jst.go.jp/article/jbse/advpub/0/advpub_17-00596/_pdf/-char/ja

055: Satoshi Miura, Junichi Takazawa, Yo Kobayashi, Masakatsu Fujie, "Accuracy to Detection Timing for Assisting Repetitive Facilitation Exercise System Using MRCP and SVM", Robotics and Biomimetics Journal, Vol.4, No.12, 2017

https://jrobio.springeropen.com/articles/10.1186/s40638-017-0071-5

054: Yuma Tetsu, Kento Yamagishi, Akira Kato, Yuya Matsumoto, Mariko Tsukune, Yo Kobayashi, Masakatsu G. Fujie, Shinji Takeoka, Toshinori Fujie, "An ultrathin epidermal strain sensor based on an elastomer nanosheet with an inkjet‐printed conductive polymer", Applied Physics Express 10, 087201, 2017

053: Yang Cao, Satoshi Miura, Quanquan Liu, Yo Kobayashi, Kazuya Kawamura, Shigeki Sugano and Masakatsu G. Fujie, "Probabilistic neural network applied to eye tracking control to alter the direction of an endoscopic manipulator", Mechanical Engineering Journal, 15-00568, 2017

052: Yina Wang, Shuoyu Wang, Kenji Ishida, Yo Kobayashi, Masakatsu G Fujie and Takeshi Ando, High path tracking control of an intelligent walking-support robot under time-varying frictions and unknown parameters, Advanced Robotics, 2017

050: Yang Cao, Liu Li, Satoshi Miura, Masaki Seki, Yo Kobayashi, Kazuya Kawamura, Masakatsu G. Fujie, "Development of angle information system to facilitate the adjustment of needle-holding posture", International Journal of Computer Assisted Radiology and Surgery (IJCARS), online, 2017 : https://link.springer.com/article/10.1007/s11548-017-1617-2

049: Yang Cao, Liu Li, Satoshi Miura, Masaki Seki, Yo Kobayashi, Kazuya Kawamura, Masakatsu G. Fujie, "Development of angle information system to facilitate the adjustment of needle-holding posture", International Journal of Computer Assisted Radiology and Surgery (IJCARS), online, 2017: https://link.springer.com/article/10.1007/s11548-017-1617-2

047: Yuya Matsumoto, Masatoshi Seki, Yasutaka Nakashima, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka and Masakatsu G. Fujie, "Algorithm to demodulate an electromyogram signal modulated by essential tremor", ROBOMECH Journal, 4:15, 2017 : https://robomechjournal.springeropen.com/articles/10.1186/s40648-017-0082-6

046. Yo Kobayashi, Mariko Tsukune, Tomoyuki Miyashita, and Masakatsu G. Fujie, "Simple empirical model for identifying rheological properties of soft biological tissues", PHYSICAL REVIEW E, 95, 022418, 2017 : http://journals.aps.org/pre/abstract/10.1103/PhysRevE.95.022418

[Preprint] Yo Kobayashi, Mariko Tsukune, Tomoyuki Miyashita, Masakatsu G. Fujie, "Simple Empirical Model for Identifying Rheological Properties of Soft Biological Tissues", arXiv:1509.02021 [physics.bio-ph], 2015 : http://arxiv.org/abs/1509.02021

045. Khalil Ibrahim, Ahmed Ramadan, Mohamed Fanni, Yo Kobayashi, Ahmed Abo-Ismail, Masakatus G Fujie, "Development of a new 4-DOF endoscopic parallel manipulator based on screw theory for laparoscopic surgery", Mechatronics, 28, 4-17, 2015 : http://www.sciencedirect.com/science/article/pii/S0957415815000306

044. Yuta Koreeda , Yo Kobayashi, Satoshi Ieiri, Yuya Nishio, Kazuya Kawamura, Satoshi Obata, Ryota Souzaki, Makoto Hashizume, Masakatsu G. Fujie, "Virtually transparent surgical instruments in endoscopic surgery with augmentation of obscured regions", International Journal of Computer Assisted Radiology and Surgery, online first, 2016 : http://link.springer.com/article/10.1007/s11548-016-1384-5

043. Yang Cao, Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Shigeki, Sugano, Masakatsu G. Fujie, "Pupil Variation Applied to the Eye Tracking Control of an Endoscopic Manipulator", the IEEE Robotics and Automation Letters (RA-L), accepted, 2016 : http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7393466

042. Kazuya Kawamura, Hiroto Seno, Yo Kobayashi, Satoshi Ieiri, Makoto Hashizume and Masakatsu G. Fujie, "Design parameter evaluation based on human operation for tip mechanism of forceps manipulator using surgical robot simulation", advanced robotics, accepted, 2016 : http://www.tandfonline.com/doi/abs/10.1080/01691864.2015.1129361

041. Yang Cao, Satoshi Miura, Quanquan Liu, Yo Kobayashi, Kazuya, Kawamura, Shigeki Sugano and Masakatsu G Fujie, " An image processing method for changing endoscope direction based on pupil movement", ROBOMECH Journal, 2016 : http://robomechjournal.springeropen.com/articles/10.1186/s40648-016-0042-6

040. Tomohiro Suzuki, Satoshi Miura, Yo Kobayashi and Masakatsu G. Fujie, "A method for using one finger to press three separate keys on a three-dimensional keyboard designed to be mounted on a mouse", ROBOMECH Journal, 2016: http://robomechjournal.springeropen.com/articles/10.1186/s40648-015-0039-6

038. Satoshi Ieiri, Takahiro Jimbo, Yuta Koreeda, Satoshi Obata, Munenori Uemura, Ryota Souzaki, Yo Kobayashi, Masakatsu G. Fujie, Makoto Hashizume, Tomoaki Taguchi, "The effect of forceps manipulation for expert pediatric surgeons using an endoscopic pseudo-viewpoint alternating system: the phenomenon of economical slow and fast performance in endoscopic surgery", Pediatric Surgery International, First online, 2015 : http://link.springer.com/article/10.1007/s00383-015-3777-x

037. Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Yasutaka Nakashima, Masakatsu G. Fujie, "Brain activation in parietal area during manipulation with a surgical robot simulator", International Journal of Computer Assisted Radiology and Surgery, 10(6), pp 783-790, 2015 : http://link.springer.com/article/10.1007%2Fs11548-015-1178-1

036. Yo Kobayashi, Ryutaro Hamano, Hiroki Watanabe, Takuma Koike, Jaesung Hong, Kazutaka Toyoda, Munenori Uemura, Satoshi Ieiri, Morimasa Tomikawa, Takeshi Ohdaira, Makoto Hashizume, Masakatsu G Fujie, "Preliminary in vivo evaluation of a needle insertion manipulator for central venous catheterization", ROBOMECH Journal, 1:18, 2014 : http://www.robomechjournal.com/content/1/1/18

035. Yo Kobayashi, Maya Hatano, Makiko Suzuki, Yasuyuki Shiraishi, Tomoyuki Yambe, Makoto Hashizume, Masakatsu G Fujie, "Preloading based needle insertion with a concave probe to enhance targeting in breast tissue", ROBOMECH Journal, 1:17, 2014, http://www.robomechjournal.com/content/1/1/17/abstract

034. Mariko Tsukune, Yo Kobayashi, Tomoyuki Miyashita, G. Masakatsu Fujie, "Automated palpation for breast tissue discrimination based on viscoelastic biomechanical properties", International Journal of Computer Assisted Radiology and Surgery, 10(5), pp 593-601, 2015: http://link.springer.com/article/10.1007/s11548-014-1100-2

033. Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Masatoshi Seki, Yasutaka Nakashima, Yuki Yokoo and Masakatsu Fujie, "Hand-Eye Coordination Evaluation Using Brain Activity", Journal of Advanced Computational Intelligence and Intelligent Informatics ,Vol.19, No.1, pp.143-151, 2015

031. Yuta Koreeda, Satoshi Obata, Yuya Nishio, Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Ryota Souzaki, Satoshi Ieiri, Makoto Hashizume, Masakatsu G. Fujie, "Development and testing of an endoscopic pseudo-viewpoint alternating system", International Journal of Computer Assisted Radiology and Surgery, 10(5), pp 619-628, 2015: http://link.springer.com/article/10.1007%2Fs11548-014-1083-z

030. Yo Kobayashi, Yuta Sekiguchi, Takehiko Noguchi, Yu Takahashi, Susumu Oguri, Liu Quanquan, Kazutaka Toyoda, Munenori Uemura, Satoshi Ieiri, Morimasa Tomikawa, Takeshi Ohdaira, Makoto Hashizume and Masaktsu G. Fujie,” Development of a robotic system with six degrees of freedom robotic tool manipulators for single port surgery”, International Journal of Medical Robotics and Computer Assisted Surgery, 11(5), 235–246, 2015 : http://onlinelibrary.wiley.com/doi/10.1002/rcs.1600/full

028. Yinlai Jiang, Shuoyu Wang, Kenji Ishida, Yo Kobayashi, and Masakatsu G. Fujie, Directional Control of an Omnidirectional Walking Support Walker: Adaptation to Individual Differences with Fuzzy Learning, Advanced Robotics, Vol.28(7), pp.479-485, 2014: http://www.tandfonline.com/doi/abs/10.1080/01691864.2013.876935#.U7I7VPl_tp8

027. Bo Shen, Shuoyu Wang, Yinlai Jiang, Yina Wang, Renpeng Tan, Kenji Ishida, Yo Kobayashi and Masakatsu G. Fujie, "Motion Control Method of Seat-Style Omnidirectional Mobile Walker Using a Digital Acceleration Control Method", ICIC Express Letters(An International Journal of Research and Surveys), vol.8(1). pp.87-93, 2014

026. Yina Wang, Shuoyu Wang, Yinlai Jiang, Kzuhiro Hamakuchi, Kenji Ishida, Yo Kobayashi and Masakatsu G. Fujie, “Trajectory Planning to Improve the Motion Performance for a Nonholonomic Wheeled Mobile Robot”, ICIC Express Letters(An International Journal of Research and Surveys), Vol. 8(1), pp. 295-301, 2014

024. Yuya Matsumoto, Masatoshi Seki, Takeshi Ando, Yo Kobayashi, Yasutaka Nalashima, Hiroshi Iijima, Masanori Nagaoka, Masakatsu G. Fujie, "Development of an Exoskeleton to Support Eating Movement in Patients with Essential Tremor", Journal of Robotic and Mechatronics (JRM), Vol. 25, No. 6, 2013, http://www.fujipress.jp/finder/xslt.php?mode=present&inputfile=ROBOT002500060008.xml

021. Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Masatoshi Seki, Yasutaka Nakashima, Takehiko Noguchi, Masahiro Kasuya, Yuki Yokoo and Masakatsu G. Fujie,” Intuitive Operability Evaluation of Robotic Surgery Using Brain Activity Measurements to Clarify Immersive Reality”, Journal of Robotic and Machatronics (JRM), Vol. 25, No. 1, 162-171, 2013, http://www.fujipress.jp/finder/xslt.php?mode=present&inputfile=ROBOT002500010017.xml

020. Yo Kobayashi, Ryutaro Hamano, Jaesung Hong, Hiroki Watanabe, Kazutaka Toyoda, Makoto Hashizume, Masakatsu G. Fujie, “Use of Puncture Force Measurement to Investigate the Conditions of Blood Vessel Needle Insertion”, Medical Engineering & Physics, 35(5):684-9, 2013, http://www.sciencedirect.com/science/article/pii/S1350453312003311

019. Yo Kobayashi, Akinori Onishi, Hiroki Watanabe, Takeharu Hoshi, Kazuya Kawamura and Masakatsu G. Fujie, “Developing a Method to Plan Robotic Straight Needle Insertion using a Probability-based Assessment of Puncture Occurrence”, Advanced Robotics, Vol. 27(6),417-430, 2013, http://www.tandfonline.com/doi/abs/10.1080/01691864.2013.756385#.Upl0lsSGrT8

018. Yo Kobayashi, Takahiro Sato, Takeharu Hoshi and Masakatsu G. Fujie, “Frictional Force Modeling Ranging from Hyper to Slow Relative Velocity between a Needle and Liver Tissue”, Journal of Biomechanical Science and Engineering (JBSE), Vol.7(3), pp.305-317, 2012, https://www.jstage.jst.go.jp/article/jbse/7/3/7_305/_pdf

017. Yo Kobayashi, Takao Watanabe, Takeshi Ando, Masatoshi Seki, Masakatsu G. Fujie, “Soft Interaction between Body Weight Support System and Human using Fractional Impedance Control”, Advanced Robotics, Volume 26, Issue 11-12, pp.1253-1269, 2012, http://www.tandfonline.com/doi/abs/10.1080/01691864.2012.689724#.UplzrcSGrT8

016. Yo Kobayashi, Atsushi Kato, Hiroki Watanabe, Takeharu Hoshi, Kazuya Kawamura and Masakatsu G. Fujie, “Modeling of Viscoelastic and Nonlinear Material Properties of Liver Tissue using Fractional Calculations”,Journal of Biomechanical Science and Engineering (JBSE), Vol. 7(2), pp.177-187, 2012, https://www.jstage.jst.go.jp/article/jbse/7/2/7_2_177/_pdf

013. Yo Kobayashi, Makiko Suzuki, Atsushi Kato, Maya Hatano, Kozo Konishi, Makoto Hashizume and Masakatsu G. Fujie, “Enhanced Targeting in Breast Tissue using a Robotic Tissue Preloading-Based Needle Insertion System”, IEEE Transaction on Robotics, Vol.28(3), pp. 710-722, 2012, http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6144750

012. Yuta Sekiguchi, Yo Kobayashi, Yu Tomono, Hiroki Watanabe, Kazutaka Toyoda, Kozo Konishi, Morimasa Tomikawa, Satoshi Ieiri, Kazuo Tanoue, Makoto Hashizume, Masakatsu G. Fujie, “Development of a Tool Manipulator Driven by a Flexible Shaft for Single Port Endoscopic Surgery”, Journal of Robotic and Machatronics (JRM), vol.23(6), pp.1115-1124, 2011 , http://www.fujipress.jp/finder/xslt.php?mode=present&inputfile=ROBOT002300060021.xml

011. Yo Kobayashi, Jaesung Hong, Ryutaro Hamano, Kaoru Okada, Masakatsu G. Fujie, Makoto Hashizume, “Development of a Needle Insertion Manipulator for Central Venous Catheterization”, International Journal of Medical Robotics and Computer Assisted Surgery, 8(1):34-44, 2011, http://onlinelibrary.wiley.com/doi/10.1002/rcs.420/abstract

008. Yo Kobayashi, Yu Tomono, Yuta Sekiguchi, Hiroki Watanabe, Kazutaka Toyoda, Kozo Konishi, Morimasa Tomikawa, Satoshi Ieiri, Kazuo Tanoue, Makoto Hashizume, Masaktsu G. Fujie,” A surgical robot with vision field control for single port endoscopic surgery”, International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 6(4), pp. 454–464, December 2010, http://onlinelibrary.wiley.com/doi/10.1002/rcs.355/abstract

005. Takeshi Ando, Yo Kobayashi, Jun Okamoto, Mitsuru Takahashi, Masakatsu G. Fujie, “Intelligent Trunk Corset to Support Rollover of Cancer Bone Metastasis Patients”, IEEE/ASME Transactions on Mechatronics, Vol. 15, No. 2, pp.181-190, 2010, http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5415560

004. Yo Kobayashi, Akinori Onishi, Hiroki Wtanabe, Taeharu Hoshi, Kazuya Kawamura, Makoto Hashizume and Masakatsu G. Fujie, “Development of an Integrated Needle Insertion System with Image Guidance and Deformation Simulation”, International Journal of Computerized Medical Imaging and Graphics (CMIG), Vol.34, No.1, pp. 9-18, 2010, http://www.sciencedirect.com/science/article/pii/S0895611109001098

003. Yo Kobayashi, Akinori Onishi, Takeharu Hoshi, Kazuya Kawamura, Makoto Hashizume, Masakatsu G. Fujie, " Development and validation of a viscoelastic and nonlinear liver model for needle insertion", International Journal of Computer Assisted Radiology and Surgery (IJCARS), Vol. 4, No. 1, pp.53-63, 2009, http://link.springer.com/article/10.1007%2Fs11548-008-0259-9

002. Yo Kobayashi, Jun Okamoto and Masakatsu G. Fujie “Position Control of Needle Tip based on Physical Properties of Liver and Force Sensor”, Journal of Robotic and Machatronis (JRM), Vol.18, No.2, pp.167-176, 2006, http://www.fujipress.jp/finder/xslt.php?mode=present&inputfile=ROBOT001800020008.xml


Book (Full paper, Reviewed)

1. Yo Kobayashi, Hiroki Watanabe, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G. Fujie,” Viscoelastic and Nonlinear Liver Modeling for Needle Insertion Simulation”, Soft Tissue Biomechanical Modeling for Computer Assisted Surgery, Studies in Mechanobiology, Tissue Engineering and Biomaterials Volume 11, 2012, pp 41-67, http://link.springer.com/chapter/10.1007%2F8415_2012_127


Conference proceedings (Full paper, Reviewed)

128. Satoshi Miura, Masaki Seki, Yuta Koreeda, Yang Cao, Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie, Tomoyuki Miyashita, "Evaluation of Virtual Shadow’s Direction in Laparoscopic Surgery", Proceedings of The 8th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob2020) , 2020

127. Satoshi Miura, Masaki Seki, Yuta Koreeda, Yang Cao, Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie, Tomoyuki Miyashita, "Accuracy of Virtual Shadow for Forceps Position Cognition in Laparoscopic Surgery", Proceedings of the 5th International Conference on Design Engineering and Science (ICDES2020), 2020

126. T. Arakawa, T.Otani, Y. Kobayashi, M. Tanaka, Computational study on motion criterion and myscle activity pattern in elderly gait with muscle weakness, 5th International Conference on Biomedical and Bioinfomatics Engineering (ICBBE), 118-121, 2018

125. Naomi Okamura, Ritaro Kasai, Yo Kobayahsi, Shigeki Sugano, Masakatsu G Fujie, "Investigation of Effective Intensity of Static Stretching Exercise Based on Spring-Pot Viscoelastic Model: Intensity Based on Maximum Tolerance Joint Torque Affects Viscoelastic Ratio of Muscle During Static Stretching", 2018 IEEE International Conference on Real-time Computing and Robotics (RCAR), 433-438, 2018

124. Akira Kato, Masato Hirabayashi, Yuya Matsurnoto, Yasutaka Nakashima, Yo Kobayashi, Masakatsu G Fujie, Shigeki Sugano, "Continuous Wrist Joint Control Using Muscle Deformation Measured on Forearm Skin", 2018 IEEE International Conference on Robotics and Automation (ICRA), 1818-1824, 2018

123. Naomi Okamura, Yo Kobayashi, Masakatsu G Fujie, Shigeki Sugano, "Similarity evaluation of multiple muscles hardness change due to static stretching using wearable indentation testers: A pilot study", 2017 IEEE International Conference on Cyborg and Bionic Systems (CBS), 18-23, 2017

122. Tamon Miyake, Yo Kobayashi, Masakatsu G Fujie, Shigeki Sugano, "Timing of intermittent torque control with wire-driven gait training robot lifting toe trajectory for trip avoidance", 2017 International Conference on Rehabilitation Robotics (ICORR), 320-325, 2017

121. Naomi Okamura, Yo Kobayashi, Shigeki Sugano, Masakatsu G Fujie, "Change detection technique for muscle tone during static stretching by continuous muscle viscoelasticity monitoring using wearable indentation tester", 2017 International Conference on Rehabilitation Robotics (ICORR), 1686-1691, 2017

120. Satoshi Miura, Junichi Takazawa, Yo Kobayashi, Masakatsu G Fujie, "Motor command detection for a repetitive facilitation exercise assistance system" , 2017 IEEE International Conference on Real-time Computing and Robotics (RCAR), 267-272, 2017

119. Omar Salah, Salvatore Sessa, Ahmed MR Fath El-Bab, Yo Kobayashi, Atsuo Takanishi, Makasatsu Fujie, "Modeling and simulation for support robot tracking a human sit to stand motion", 2016 28th International Conference on Microelectronics (ICM), 81-84, 2016

118. Yang CAO, Yo Kobayashi, Satoshi Miura, Kazuya Kawamura, Masakatsu G. Fujie, Shigeki Sugano,"Pupil Variation for Use in Zoom Control", Proceedings of 2016 IEEE Conference on Robotics and Biomimetics (ROBIO), pp.479-484, 2016

117. Tamon Miyake, Yo Kobayashi, Masakatsu G Fujie, Shigeki Sugano, "Relation between magnitude of applied torque during pre-swing phase and toe clearance change to prevent trip of elderly people", IEEE International Conference on Systems, Man, and Cybernetics (SMC), pp.002448-002453, 2016

116. Akira Kato, Yuya Matsumoto, Yo Kobayashi, Masakatsu G Fujie, Shigeki Sugano, "Joint angle estimation using the distribution of the muscle bulge on the forearm skin surface of an upper limb amputee", IEEE International Conference on Systems, Man, and Cybernetics (SMC), pp.001490-001495, 2016

115. Tamon Miyake, Mariko Tsukune, Yo Kobayashi, Shigeki Sugano, Masakatsu G Fujie, "Relationship between magnitude of applied torque in pre-swing phase and gait change for prevention of trip in elderly people", IEEE 38th Annual International Conference of the Engineering in Medicine and Biology Society (EMBC), pp.6154-6157, 2016

114. Akira Kato, Yuya Matsumoto, Yo Kobayashi, Shigeki Sugano, Masakatsu G Fujie, "Wrist joint angle estimation by means of muscle bulge based on deformation of the forearm skin surface", Proceedings of 2016 World Automation Congress (WAC) - ISORA 2016, 2016

113. Satoshi Miura, Junichi Takazawa, Kazuya Kawamura, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie, "Brain Wave Measurement while Touching Task of a Virtual Arm for Intuitive Robotic Surgery", Proceedings of 2016 World Automation Congress (WAC) - ISORA 2016, 2016

112. Yang Cao, Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Shigeki Sugano, Masakatsu G. Fujie, "Pupil Variation Applied to the Control of an Endoscope", Proceedings of the 2016 IEEE International Conference on Robotics and Automation (ICRA'16), pp.531-538, 2016

111. Mitsuhiro Kamezaki, Hiroyuki Ishii, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Yo Kobayashi, Kenji Hashimoto, Shigeki Sugano, Atsuo Takanishi, Masakatsu G Fujie, Shuji Hashimoto, Hiroshi Yamakawa, "Design of four-arm four-crawler disaster response robot OCTOPUS", 2016 IEEE international conference on robotics and automation (ICRA), 2840-2845, 2016

110. Yang Cao, Quanquan Liu, Yo Kobayashi, Kazuya Kawamura, Shigeki Sugano, Masakatsu G Fujie, "Development of an endoscopic manipulator control system with intention recognition based on pupil movement", 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), 1637-1642, 2015

109. Akira Kato, Yuya Matsumoto, Yo Kobayashi, Shigeki Sugano, Masakatsu G Fujie, "Estimating a joint angle by means of muscle bulge movement along longitudinal direction of the forearm", 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), 614-619, 2015

108. Yang Cao, Yo Kobayashi, Bo Zhang, Quanquan Liu, Shigeki Sugano, Masakatsu G Fujie, "Evaluating proficiency on a laparoscopic suturing task through pupil size", 2015 IEEE International Conference on Systems, Man, and Cybernetics, 677-681, 2015

107. Yasutaka Nakashima, Kazuya Takizawa, Yuya Matsumoto, Satoshi Miura, Yo Kobayashi, Masakatsu G. Fujie, "Foot Pressure and Posture Information-Based Visual Feedback System for Well-Balanced Gait in Older People", Proceedings of the 41st Annual Conference of the IEEE Industrial Electronics Society (IECON 2015), pp.004163-004168,2015.

106. Kenoh Murakami, Kenji Yoshida, Kazuya Kawamura, Mariko Tsukune, Yo Kobayashi, Masakatsu Fujie, Riwa Kishimoto, Takayuki Obata, Tadashi Yamaguchi, "Viscoelasticity and shear wave velocity of liver tissue evaluated by dynamic mechanical analysis, "2015 IEEE International Ultrasonics Symposium, 10.1109/ULTSYM.2015.0289, 2015

105. Xiaowei Lu, Hayato Kikuchi, Kazumasa Hirooka, Yosuke Isobe, Hiroki Watanabe, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G Fujie , "Method for estimating the temperature distribution associated with the vessel cooling effect in radio frequency ablation", Proceedings of the 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society(EMBC2015), 4836-4839, 2015

104. Yasutaka Nakashima, Kazuya Takizawa, Yuya Matsumoto, Satoshi Miura, Yo Kobayashi, Masakatsu G. Fujie, Foot Pressure and Posture Information-Based Visual Feedback System for Well-Balanced Gait in Older People, Proceedings of the 41st Annual Conference of the IEEE Industrial Electronics Society (IECON 2015), Accepted.

103. Satoshi Miura, Yuya Matsumoto, Yo Kobayashi, Kazuya Kawamura, Yasutaka Nakashima, Masakatsu G. Fujie, "Visual and Somatic Sensory Feedback of Brain Activity for Intuitive Surgical Robot Manipulation", Proceedings of the 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society(EMBC2015), WeAT1.5, 2015

102. Yi-Hung Liu, Bo Zhang, Quanquan Liu, Wei-Chun Hsu, Yu-Tsung Hsiao, Jui-Yiao Su, Yo Kobayashi, Masakatsu G. Fujie,"A Robotic Gait Training System Integrating Split-Belt Treadmill, Footprint Sensing and Synchronous EEG Recording for Neuro-Motor Recovery", Proceedings of the37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society(EMBC 2015),ThBPoT18.3, 2015

101. Yasutaka Nakashima, Shinya Kawano, Yuya Matsumoto, Yo Kobayashi, Masakatsu G. Fujie, Motoji Yamamoto, "Development of Gait Training System to Encourage Swinging the Upper Limbs Based on the Phase Change of the Shoulder Horizontal Rotation at Heel Contact", Proceedings of the 2015 IEEE / ASME International Conference on Advanced Intelligent Mechatronics(AIM 2015), pp. 933-936, 2015

100. Quanquan Liu, Yo Kobayashi, Bo Zhang, Masakatsu G. Fujie, "A Novel Smart Surgical Robotic System with Eye-hand Coordination for Surgical Assistance", Proceeding of 2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC2014), pp. 1175-1180 2014

099. Yuya Matsumoto, Motoyuki Amemiya, Daisuke Kaneishi, Yasutaka Nakashima, Masatoshi Seki, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka and Masakatsu G. Fujie, "Development of an Elbow-Forearm Interlock Joint Mechanism Toward an Exoskeleton for Patients with Essential Tremor", 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE/RSJ IROS2014), pp. 2055-2062 2014

098. Inko Elgezua, Sangha Song, Yo Kobayashi, Masakatsu G. Fujie, "Estimation of needle tissue interaction based on non-linear elastic modulus and friction force patterns", IEEE/RSJ International Conference on Intelligent Robots and Systems (IEEE/RSJ IROS2014), pp.4315-4320, 2014

097. Sangha Song, Inko Elguezua, Yo Kobayashi, Masakatsu G. Fujie, "Method for Estimation of Structural Composition of Skin Layers based on Light Propagation Simulation for Liposuction Applications", 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society(EMBC2014), pp. 6565-6568, 2014

096. Naomi Okamura, Mariko Tsukune, Yo Kobayashi, Masakatsu G. Fujie, "A Study of Viscoelasticity Index for Evaluating Muscle Hypotonicity during Static Stretching", 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society(EMBC2014), pp. 6919-6923, 2014

095. Nozomu Yamazaki, Yo Kobayashi, Hayato Kikuchi, Yosuke Isobe, XiaoWei Lu, Tomoyuki Miyashita, Masakatsu G. Fujie, "Modeling of Lung’s Electrical Impedance using Fractional Calculus for Analysis of heat generation during RF-Ablation", 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society(EMBC2014), pp. 5323-5328, 2014

094. Mariko Tsukune, Yo Kobayashi, Yuichiro Otsuka, Testuya Maeda, Nozomu Yamazaki, Hiroki Watanabe, Takeshi Ando, Hironori Kaneko and Masakatsu G. Fujie, "Effect of the thickness and nonlinear elasticity of tissue on the success of surgical stapling for laparoscopic liver resection", 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society(EMBC2014), pp. 353-356, 2014

093. Jing Ye, Yasutaka Nakashima, Inko Elgezua, Bo Zhang, Yo Kobayashi, Masakatsu G. Fujie, "Development of a Novel Gait Rehabilitation System by integrating Functional Electrical Stimulation and a Split Belt Treadmill for Hemiparetic Patients after Stroke", 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob2014),pp. 701-706, 2014

092. Yuya Matsumoto, Yasutaka Nakashima, Masatoshi Seki, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka, Masakatsu G. Fujie, "Development of a Filtering algorithm to Demodulate Electromyogram Signal of Essential Tremor Patients", World Automation Congress 2014, 1569917645

091. Yasutaka Nakashima, Yo Kobayashi, Takeshi Ando, Masakatsu G. Fujie, "Evaluation of Treadmill Velocity Control Based on User's Intention of Acceleration or Deceleration", World Automation Congress 2014, 1569917627, 2014

090. Quanquan Liu, Yo Kobayashi, Bo Zhang, Takehiko Noguchi, Yu Takahashi, Yuya Nishio, Yang Cao, Satoshi Ieiri, Kazutaka Toyoda, Munenori Uemura, Morimasa Tomikawa, Makoto Hashizume and Masakatsu G.Fujie, “Development of a Smart Surgical Robot with Bended Forceps for Infant Congenital Esophageal Atresia Surgery”, in Proceedings of IEEE International Conference on Robotics and Automation (ICRA’14), pp.2430-2435, 2014

089. Quanquan Liu, Yo Kobayashi, Bo Zhang, Jing Ye, Elgezua Inko, Yang Cao, Yuta Sekiguchi, Qixin Cao, Makoto Hashizume and Masakatsu G. Fujie, “Design of an Insertable Surgical Robot with Multi-Level Endoscopic Control for Single Port Access Surgery”, in Proceedings of The 10th IEEE International Conference Robotics and Biomimetics (ROBIO 2013) , pp.750-755, 2013

088. Jing Ye, Yasutaka Nakashima, Takao Watanabe, Masatoshi Seki, Bo Zhang, Quanquan Liu, Yuki Yokoo, Yo Kobayashi, Qixin Cao and Masakatsu G. Fujie, “Development of a Novel Gait Rehabilitation System Based on FES and Treadmill-Walk for Convalescent Hemiplegic Stroke Survivors”, in Proceedings of 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2013) , pp. 977-982, 2013

087. Quanquan Liu, Yo Kobayashi, Takahiko Noguchi, Elgezua Inko, Yuta Sekiguchi, Bo Zhang, Jing Ye, Kazutaka Toyoda, Makoto Hashizume and Masakatsu G.Fujie, ”Development of a 6-DOF Manipulator Driven by Flexible Shaft for Minimally Invasive Surgical Application”, in Proceedings of 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2013), pp. 6261-6264, 2013

086. Sangha Song, Inko Elgezua, Yo Kobayashi and Masakatsu G. Fujie, “Study on Method to Simulate Light Propagation on Tissue with Characteristics of Radial-beam LED based on Monte-carlo Method”, in Proceedings of 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2013), pp. 25-28, 2013

085. Yosuke Isobe, HirokiWatanabe, Nozomu Yamazaki, XiaoWei Lu, Yo Kobayashi, TomoyukiMiyashita, Makoto Hashizume and Masakatsu G. Fujie, ”Real-Time Temperature Control System Based on the Finite Element Method for Liver Radiofrequency Ablation: Effect of the Time Interval on Control”, in Proceedings of 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2013), pp. 392-396, 2013

084. Nozomu Yamazaki, Hiroki Watanabe, XiaoWei Lu, Yosuke Isobe, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie, “The relation between temperature distribution for lung RFA and electromagnetic wave frequency dependence of electrical conductivity with changing a lung's internal air volumes”, in Proceedings of 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2013), pp. 386-391, 2013

083. Xiaowei Lu, Hiraki Watanabe, Yosuke Isobe, Nozomu Yamazaki, Yo Kobayashi, Tomoyuki Miyashita and Masakatsu G. Fujie, “Derivation of the Relationship between the Rate of Temperature Rise and Viscoelasticity for Constructing a Coagulation Model for Liver Radio Frequency Ablation”, in Proceedings of 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2013), pp. 382-385, 2013

082. Mariko Tsukune, Maya Hatano, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie, ”Boundary Condition Generating Large Strain on Breast Tumor for Nonlinear Elasticity Estimation”, in Proceedings of 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2013), pp. 4863-4866, 2013

081. Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Masatoshi Seki, Yasutaka Nakashima, Takehiko Noguchi, Yuki Yokoo and Masakatsu G. Fujie, “Brain Activity Measurement to Evaluate Hand-Eye Coordination for Slave and Endoscope in a Surgical Robot”, in Proceedings of IEEE International Conference on Robotics and Automation (ICRA’13), pp.4341-4347, 2013

080. Yuki Yokoo, Yasutaka Nakashima, Satoshi Miura, Yoshikazu Ogaya, Takeshi Ando, Yo Kobayashi and Masakatsu Fujie, “Brain Activity Measurement Based Evaluation of Active Control of a Treadmill”, in Proceedings of The 6th International Conference on Soft Computing and Intelligent Systems and the 13th International Symposium on Advanced Intelligent Systems (SCIS-ISIS 2012), pp.1201 - 1206, 2012

079. Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Masatoshi Seki, Yasutaka Nakashima, Takehiko Noguchi, Yuki Yokoo and Masakatsu Fujie, “Configuration of Slave and Endoscope in Surgical Robot based on Brain Activity Measurement”, in Proceedings of The 6th International Conference on Soft Computing and Intelligent Systems and the 13th International Symposium on Advanced Intelligent Systems (SCIS-ISIS 2012), pp.1195 - 1200, 2012

078. Renpeng Tan, Shuoyu Wang, Yinlai Jiang, Kenji Ishida, Yo Kobayashi and Masakatsu Fujie, “An Improved Adaptive Controller with Parameter Optimization by GA for an Omni-directional Walker”, in Proceedings of The 6th International Conference on Soft Computing and Intelligent Systems and the 13th International Symposium on Advanced Intelligent Systems (SCIS-ISIS 2012), pp.1211 - 1214, 2012

077. Yinlai Jiang, Shuoyu Wang, Kenji Ishida, Yo Kobayashi and Masakatsu Fujie, “User Directional Intention Identification for a Walking Support Walker - Adaptation to Individual Differences with Fuzzy Learning”, in Proceedings of The 6th International Conference on Soft Computing and Intelligent Systems and the 13th International Symposium on Advanced Intelligent Systems (SCIS-ISIS 2012), pp.1207 - 1210, 2012

076. Takehiko Noguchi, Yo Kobayashi, Kazuya Kawamura, Hiroki Watanabe, Yu Tomono, Yuta Sekiguchi, Hiroto Seno, Masakatsu G. Fujie, Kazutaka Toyoda, Makoto Hashizume, “Application of Control Modes of a Master Manipulator for a Robotic System to Assist with Single Port Endoscopic Surgery”, in Proceedings of 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS’12), pp.1270 - 1276, 2012

075. Khalil Ibrahim, Ahmed Ramadan, Mohamed Fanni, Yo Kobayashi, Ahmed Abo-Ismail, Masakatsu Fujie, “Kinematic Analysis and Control of limited 4-DOF Parallel Manipulator Based on Screw Theory”, in Proceedings of 2012 IEEE International Conference on Systems, Man, and Cybernetics (SMC’12) , pp.47 - 52, 2012

074. Sangha Song, Yo Kobayashi, Masakatsu G. Fujie, “Detection of Dermis and Fascia on Skin Layers for Liposuction Surgery Robot using Texture and Geometric Information”, 12th International Conference on Control, Automation and Systems (ICCAS 2012), pp.1546 - 1551, 2012

073. Khalil Ibrahim, Ahmed Ramadan, Mohamed Fanni, Yo Kobayashi, Ahmed Abo-Ismail, Masakatsu Fujie, ”Design and workspace analysis of a new endoscopic parallel manipulator”, 12th International Conference on Control, Automation and Systems (ICCAS 2012), pp.688 - 693, 2012

072. Nozomu Yamazaki, Hiroki Watanabe, XiaoWei Lu, Yosuke Isobe, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie, “Development of a temperature distribution simulator for lung RFA based on air dependence of thermal and electrical properties”, in Proceeding of the 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’12), pp.5699-5702, 2012

071. Yusuke Katsuyama, Nozomu Yamazaki, Yo Kobayashi, Takeharu Hoshi, Tomoyuki Miyashita, “A study on estimation of the deformation behavior in the collapse process of lung”, in Proceeding of the 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’12), pp. 2817- 2822, 2012

070. XiaoWei Lu, Mariko Tsukune, Hiroki Watanabe, Yosuke Isobe, Yo Kobayashi, Nozomu Yamazaki, Tomoyuki Miyashita, Masakatsu G. Fujie, “A Method for Deriving the Coagulation Boundary of Liver Tissue Using a Relational Model of Viscoelasticity and Temperature in Radiofrequency Ablation”, in Proceeding of the 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’12), pp. 187-190, 2012

069. Hiroki Watanabe, Nozomu Yamazaki, Yosuke Isobe, XiaoWei Lu, Yo Kobayashi, Tomoyuki Miyashita, Takeshi Ohdaira, Makoto Hashizume, Masakatsu G. Fujie, ”Validation of Accuracy of Liver Model with Temperature-Dependent Thermal Conductivity by Comparing the Simulation and in vitro RF Ablation Experiment”, in Proceeding of the 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’12), pp. 5712-5717, 2012

068. Yuya Matsumoto, Masatoshi Seki, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka, Masakatsu G. Fujie, “Analysis of EMG Signals of Patients with Essential Tremor Focusing on the Change of Tremor Frequency”, in Proceeding of the 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’12), pp. 2244-2250, 2012

067. Satoshi MIURA, Yo Kobayashi, Kazuya Kawamura, Masatoshi Seki, Yasutaka Nakashima, Takehiko Noguchi, Masahiro Kasuya, Yuki YOKOO, Masakatsu G. Fujie, “Intuitive Operability Evaluation of Robotic Surgery Using　Brain Activity Measurement to Determine Immersive Reality”, in Proceeding of the 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’12), pp.337-343, 2012

066. Yuya Matsumoto, Masatoshi Seki, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka, Masakatsu G. Fujie, “Tremor Frequency Based Filter to Extract Voluntary Movement of Patients with Essential Tremor”, in Proceedings of 2012 IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob’12), pp. 1415-1422, 2012

065. Inko Elgezua Fernandez, Yo Kobayashi, Sangha Song, Masakatsu G. Fujie, “Combined Collision Avoidance and Prevention of Soft Tissue Damage Control Method for Surgical Robots”, in Proceedings of 2012 IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob’12), pp. 1217-1222, 2012

064. Yasutaka Nakashima, Takeshi Ando, Yo Kobayashi, Masakatsu G. Fujie, ” Gait-Controlled Mobility-Aid Robot: Treadmill Motor Current Based Anteroposterior Force Estimation Using Frictional Model Reflects Characteristics of Ground Reaction Force”, in Proceedings of 2012 IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob’12), pp. 1305-1310, 2012

063. Maya Hatano, Yo Kobayashi, Makiko Suzuki, Yasuyuki Shiraishi, Tomoyuki Yambe, Makoto Hashizume, Masakatsu G. Fujie, “Geometry Effect of Preloading Probe on Accurate Needle Insertion for Breast Tumor Treatment”, in Proceedings of 2012 IEEE International Conference on Robotics and Automation (ICRA’12), pp. 1933-1938, 2012

062. Satoshi Miura, Yo Kobayashi, Masatoshi Seki, Takehiko Noguchi, Masahiro Kasuya, Yuki Yokoo, Masakatsu G. Fujie, “Intuitive Operability Evaluation of Robotic Surgery Using Brain Activity Measurement to Identify Hand-Eye Coordination”, in Proceedings of 2012 IEEE International Conference on Robotics and Automation (ICRA’12), pp. 4546-4552, 2012

061. Masatoshi Seki, Yuya Matsumoto, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka and Masakatsu G. Fujie, “The Weight Load Inconsistency Effect on Voluntary Movement Recognition of Essential Tremor Patient”, 2011 IEEE International Conference on Robotics and Biomimetics (Robio’11), pp. 901-907, 2011

060. Takao Watanabe, Yo Kobayashi, Masakatsu G. Fujie, "Pelvic Motion Analysis for Gait Phase Estimation during Gait Training with Body Weight Support", in Proceedings of 2011 IEEE International Conference on Systems, Man, and Cybernetics (SMC’11), pp. 3219-3223, 2011

059. Bo Zhang, Yo Kobayashi, Yoshinari Maeda, Toshio Chiba, and Masakatsu G. Fujie, “Development of a Robotic Manipulator System for Congenital Diaphragmatic Hernia”, in Proceedings of 2011 IEEE International Conference on Systems, Man, and Cybernetics (SMC’11), pp. 723-728, 2011

058. Masatoshi Seki, Yuya Matsumoto, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka, Masakatsu G. Fujie, “Development of Robotic Upper Limb Orthosis with Tremor Suppressiblity and Elbow Joint Movability -Extraction of Elbow Flexion Movement Using Powerd Sine wave Filter-”, in Proceedings of 2011 IEEE International Conference on Systems, Man, and Cybernetics (SMC’11), pp.729-735, 2011

057. Hiroki Watanabe, Kazuki Kanou, Yo Kobayashi, Masakatsu G. Fujie, “Development of a “Steerable Drill” for ACL Reconstruction to Create the Arbitrary Trajectory of a Bone Tunnel”, in Proceedings of 2011 IEEE International Conference on Intelligent Robots and Systems (IROS’11), pp.955-960, 2011

056. Takao Watanabe, Yo Kobayashi and Masakatsu G. Fujie, “Pelvis Motion Analysis for Gait Phase Estimation Toward Leg-Dependent Body Weight Support at Different Walking Speed”, in Proceeding of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’11), pp.1590-1593, 2011

055. Masatoshi Seki, Yuya Matsumoto, Takeshi Ando, Yo Kobayashi, Hiroshi Iijima, Masanori Nagaoka, Masakatsu G. Fujie, ”Filtering Essential Tremor Noise on surface EMG based on Squared Sine Wave Approximation”, in Proceeding of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’11), pp.7487-7491, 2011

054. Takeharu Hoshi, Mariko Tsukune, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie, “Development and evaluation of an identification method for the biomechanical parameters using robotic force measurements, medical images, and FEA”, in Proceeding of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’11), pp.5386-5391, 2011

053. Yuta Sekiguchi, Yo Kobayashi, Hiroki Watanabe, Yu Tomono, Takehiko Noguchi, Yu Takahashi, Kazutaka Toyoda, Munenori Uemura, Satoshi Ieiri, Takeshi Ohdaira, Morimasa Tomikawa, Makoto Hashizume, Masakatsu G. Fujie, “In Vivo Experiments of a Surgical Robot with Vision Field Control for Single Port Endoscopic Surgery”, in Proceeding of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’11), pp.7045-7048, 2011

052. Hiroto Seno, Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie, “Basic Study of Design Method for Surgical Robot using Workspace Reproduction System”, in Proceeding of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’11), pp.4542-4545, 2011

051. Hiroki Watanabe, Nozomu Yamazaki, Yo Kobayashi, Tomoyuki Miyashita, Makoto Hashizume, Masakatsu G. Fujie, “Estimation of Intraoperative Blood Flow During Liver RF Ablation Using a Finite Element Method-based Biomechanical Simulation”, in Proceeding of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’11), pp.7441-7445, 2011

050. Nozomu Yamazaki, Hiroki Watanabe, Masatoshi Seki, Takeharu Hoshi, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie, “Modeling the Internal Pressure dependence of Thermal Conductivity of Lung and in vitro Measurement of Temperature during RFA”, in Proceeding of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’11), pp.5753-5757, 2011

049. Kazuya Kawamura, Hiroto Seno, Yo Kobayashi and Masakatsu G. Fujie, “Pilot Study on Effectiveness of Simulation for Surgical Robot Design Using Manipulability”, in Proceeding of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’11), pp.4538-, 4541, 2011

048. Mariko Tsukune, Yo Kobayashi, Takeharu Hoshi, Tomoyuki Miyashita and Masakatsu G. Fujie, “Evaluation and comparison of the nonlinear elastic properties of the soft tissues of the breast”, in Proceeding of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’11), pp.7405-7408, 2011

047. Yasutaka Nakashima, Takeshi Ando, Yo Kobayashi and Masakatsu G. Fujie, “Treadmill Motor Current Based Anteroposterior Force Estimation Using Ground Reaction Force Approximation Depending on Gait Cycle”, in Proceeding of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’11), pp.1583-1589, 2011

046. Yo Kobayashi, Mariko Tsukune, Takeharu Hoshi, Yasuyuki Shiraishi, Tomoyuki Yambe and Masakatsu G. Fujie, ” Palpation Nonlinear Reaction Force Analysis for Characterization of Breast Tissues”, in Proceeding of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’11), pp.7393-7396, 2011

045. Yo Kobayashi, Pedro Moreira, Philippe Poignet, Nabil Zemiti, Chao Liu and Masakatsu G. Fujie, ”Haptic Feedback Control in Medical Robots through Fractional Viscoelastic Tissue Model”, in Proceeding of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’11), pp.6704-6708, 2011

044. Bo Zhang, Yo Kobayashi, Yoshinari Maeda, Toshio Chiba, Masakatsu G. Fujie, “Development of 6-DOF Wire-Driven Robotic Manipulator for Minimally Invasive Fetal Surgery”, in Proceedings of 2011 IEEE International Conference on Robotics and Automation (ICRA’11), pp.2892-2897, 2011

043. Takeshi Ando, Yu Ogawa, Yasutaka Nakashima, Eiichi Ohki, Yo Kobayashi, Misato Nihei, Masakatsu G. Fujie, “Stable Turning Movement of a Gait-Based Personal Mobility Tread-Walk 1”, in Proceedings of 2011 IEEE International Conference on Robotics and Automation (ICRA’11), pp.4157-4162, 2011

042. Maya Hatano, Yo Kobayashi, Ryutaro Hamano, Makiko Suzuki, Yasuyuki Shiraishi, Tomoyuki Yambe, Kozo Konishi, Makoto Hashizume, Masakatsu G. Fujie, “In Vitro and In Vivo Validation of Robotic Palpation-Based Needle Insertion Method for Breast Tumor Treatment”, in Proceedings of 2011 IEEE International Conference on Robotics and Automation (ICRA’11), pp.392-397, 2011

041. Hiroki Watanabe, Yo Kobayashi, Masakatsu G. Fuije, “Organ Biomechanical Simulators for Model based Control of Robotic RF Ablation System”, Proceeding of the 2010 IEEE International Symposium on Micro-NanoMechatoronics and Human Science, pp.95-100, 2010

040. Takeharu Hoshi, Yo Kobayashi, Masakatsu G. Fujie, “Quantitative Palpation to Identify the Material Parameters of Tissues Using Reactive Force Measurement and the Finite Element Simulation”, in Proceedings of 2010 IEEE International Conference on Intelligent Robots and Systems (IROS’10), pp.2822-2828, 2010

039. Yo Kobayashi, Takeshi Ando, Masatoshi Seki, Takao Watanabe, Masaktsu G. Fujie, ”Fractional Impedance Control for Reproducing the Material Properties of Muscle”, in Proceedings of 2010 IEEE International Conference on Intelligent Robots and Systems (IROS’10), pp.5498-5504, 2010

038. Yuta Sekiguchi, Yo Kobayashi, Yu Tomono, Hiroki Watanabe, Kazutaka Toyoda, Kozo Konishi, Morimasa Tomikawa, Satoshi Ieiri, Kazuo Tanoue, Makoto Hashizume, Masaktsu G. Fujie, “Development of a Tool Manipulator Driven by a Flexible Shaft for Single Port Endoscopic Surgery”, in Proceedings of 2010 IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob’10), pp.120-125, 2010

037. Yo Kobayashi, Takao Watanabe, Takeshi Ando, Masatoshi Seki, Masaktsu G. Fujie, ”Fractional Impedance Control for Reproducing the Material Properties of Muscle and its Application in a Body Weight Support System”, in Proceedings of 2010 IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob’10), 553-559, 2010

036. Hiroki Watanabe, Nozomu Yamazaki , Yo Kobayashi, Tomoyuki Miyashita, Makoto Hashizume, Masakatsu G. Fujie, “Temperature Dependence of Thermal Conductivity of Liver Based on Various Experiments and a Numerical Simulation for RF Ablation”, in Proceeding of the 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’10), pp. 3222-3228, 2010

035. Yasutaka Nakashima, Eiichi Ohki, Takeshi Ando, Yo Kobayashi, Masakatsu G. Fujie, “Drive Motor Current Based Real-time Estimation of Anteroposterior Force”, in Proceeding of the 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’10), pp.979-983, 2010

034. Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie, “Pilot Study on Verification of Effectiveness on Operability of Assistance System for Robotic Tele-surgery using Simulation”, in Proceeding of the 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’10), pp.2308-2312, 2010

033. Yo Kobayashi, Yu Tomono, Yuta Sekiguchi, Hiroki Watanabe, Kazutaka Toyoda, Kozo Konishi, Morimasa Tomikawa, Satoshi Ieiri, Kazuo Tanoue, Makoto Hashizume, Masaktsu G. Fujie, ” Design of a Surgical Robot with Dynamic Vision Field Control for Single Port Endoscopic Surgery”, in Proceeding of the 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’10), pp.979-983, 2010

032. Takao Watanabe, Eiichi Ohki, Yo Kobayashi and Masakatsu G. Fujie, “Leg-dependent Force Control for Body Weight Support by Gait Cycle Estimation from Pelvic Movement”, in Proceedings of 2010 IEEE International Conference on Robotics and Automation (ICRA’10), pp.2235- 2240, 2010

031. Takeharu Hoshi, Yo Kobayashi and Masakatsu G. Fujie, “Method to Generate Distribution Maps of the Material Parameters of the Human Body Using Robotic and Dynamic Simulation Systems”, in Proceedings of 2009 IEEE/SICE International sympojium on system integration (SII’09), pp.60-66, 2009

030. Hiroki Watanabe, Yo Kobayashi, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G. Fujie and Makoto Hashizume, “Integrated System for RFA Therapy with Biomechanical Simulation and Needle Insertion Robot”, in Proceedings of 2009 IEEE/SICE International sympojium on system integration (SII’09), pp.54-59, 2009

029. Yo Kobayashi, Atsushi Kato, Takeharu Hoshi, Kazuya Kawamura and Masakatsu G. Fujie, “Parameter Setting Method considering Variation of Organ Stiffness for the Control Method to Prevent Overload at Fragile Tissue”, in Proceedings of 2009 IEEE International Conference on Intelligent Robots and Systems (IROS’09), pp.2155-2161, 2009

028. Yo Kobayashi, Makiko Suzuki, Atsushi Kato, Kozo Konishi, Makoto Hashizume and Masakatsu G. Fujie, “A Robotic Palpation-Based Needle Insertion Method for Diagnostic Biopsy and Treatment of Breast Cancer”, in Proceedings of 2009 IEEE International Conference on Intelligent Robots and Systems (IROS’09), pp.5534-5539 , 2009

027. Bo Zhang, Yo Kobayashi, Toshio Chiba, Masakatsu G. Fujie, “Robotic patch-stabilizer using wire driven mechanism for minimally invasive fetal surgery”, in Proceeding of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’09), pp.5076-5079, 2009

026. Takeshi Ando, Misato Nihei, Eiichi Ohki, Yasutaka, Nakashima, Yo Kobayashi, Masakatsu G. Fujie, “Kinematic Walking Analysis on a New Vehicle “Tread-Walk” with Active Velocity Control of Treadmill Belt”, in Proceeding of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’09), pp.5977-5980, 2009

025. Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie, “Operability Evaluation using an Simulation System for Gripping Motion in Robotic Tele-surgery”, in Proceeding of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’09), pp.5106-5109, 2009

024. Hiroki Watanabe, Yo Kobayashi, Makoto Hashizume, and Masakatsu G. Fujie, “Modeling the Temperature Dependence of Thermophysical Properties: Study on the Effect of Temperature Dependence for RFA” in Proceeding of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’09), pp.5100-5105, 2009

023. Shintaro Inoue, Kazutaka Toyoda, Yo Kobayashi, Masakatsu G. Fujie, “Autonomous Avoidance based on Motion Delay of Master-Slave Surgical Robot”, in Proceeding of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’09), pp.5080-5083, 2009

022. Yo Kobayashi, Takahiro Sato and Masakatsu G. Fujie, “Modeling of Friction Force based on Relative Velocity between Liver Tissue and Needle for Needle Insertion Simulation”, in Proceeding of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’09), pp.5274-5278, 2009

021. Yo Kobayashi, Akinori Onishi, Hiroki Watanabe, Takeharu Hoshi, Kazuya Kawamura and Masakatsu G. Fujie, “Developing a Planning Method for Straight Needle Insertion using Probability-Based Condition where a Puncture Occurs”, in Proceedings of 2009 IEEE International Conference on Robotics and Automation (ICRA’09), pp.3482-3489, 2009

020. Makiko Suzuki, Yo Kobayashi, Kazutaka Toyoda and Masakatsu G. Fujie, “Development of a Palpation System to Help Provide Accurate Robotic Needle Insertion during the Treatment of Breast Cancer” in 2008 IEEE International Conference on Robotics and Biomimetics (Robio’08), pp. 499-504, 2008

019. Yo Kobayashi, Makiko Suzuki, Kozo Konishi, Makoto Hashizume and Masakatsu G. Fujie, “Development of a Novel Approach,“Palpation Based Needle Insertion,” for Breast Cancer Treatment” in 2008 IEEE International Conference on Robotics and Biomimetics (Robio’08), pp. 505-511, 2008

018. Takeharu Hoshi, Yo Kobayashi and Masakatsu G. Fujie, “Developing a system to identify the material parameters of an organ model for surgical robot control”, in Proceedings of 2008 IEEE Biomedical Robotics and Biomechatronics (BioRob’08), pp.730-735, 2008

017. Hiroki Watanabe, Yo Kobayashi and Masakatsu G. Fujie, “Modeling the Temperature Dependence of Thermal Conductivity: Developing a System for Robot-Assisted RFA Therapy”, in Proceedings of 2008 IEEE Biomedical Robotics and Biomechatronics (BioRob’08), pp.483-488, 2008

016. Takeshi Ando, Misato Nihei, Yo Kobayashi, Yuzo Kaneshige, Takenobu Inoue and Masaktsu G. Fujie, “A Steering System of a New Mobility-Aid Vehicle: Tread-Walk” , in Proceedings of 2008 IEEE Biomedical Robotics and Biomechatronics (BioRob’08), pp.415-420, 2008

015. Yo Kobayashi, Akinori Onishi, Takeharu Hoshi, Kazuya Kawamura and Masakatsu G. Fujie, “In Virto Validation of a Viscoelastic and Nonlinear Liver Model for Needle Insertion”, in Proceedings of 2008 IEEE Biomedical Robotics and Biomechatronics (BioRob’08), pp.469-476, 2008

014. Yo Kobayashi, Akinori Onishi, Takeharu Hoshi, Kazuya Kawamura and Masakatsu G. Fujie, “Modeling of Conditions where a Punctures Occur during Needle Insertion with considerations of Probabilistic Distribution”, in Proceedings of 2008 IEEE International Conference on Intelligent Robots and Systems (IROS’08), pp.1433-1440, 2008

013. Kazuya Kawamura, Yo Kobayashi and Masakatsu G. Fujie,” Basic Study on Real-Time Simulation Using Mass Spring System for Robotic Surgery”, The 4th International Workshop on Medical Imaging and Augmented Reality (MIAR’08), pp.311-319, 2008.

012. Yo Kobayashi, Akinori Onishi, Takeharu Hoshi, Kazuya Kawamura and Masakatsu G. Fujie,” Validation of Viscoelastic and Nonlinear Liver Model for Needle Insertion from in Vivo Experiments”, The 4th International Workshop on Medical Imaging and Augmented Reality (MIAR’08), pp.50-59, 2008.

011. Yo Kobayashi, Akinori Onishi, Takeharu Hoshi, Kazuya Kawamura and Masakatsu G. Fujie, “Deformation Simulation using a Viscoelastic and Nonlinear Organ Model for Control of a Needle Insertion Manipulator”, in Proceedings of 2007 IEEE International Conference on Intelligent Robots and Systems (IROS’07), pp1801-1808, 2007

010. Kazuya Kawamura, Yo Kobayashi and Masakatsu G. Fujie, “Real-time Simulation for Intra-operative navigation in Robotic Surgery –Using a mass spring system for a basic study of organ deformation”, in Proceeding of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’07), pp1237-1241, 2007

009. Takeharu Hoshi, Yo Kobayashi, Kazuya Kawamura and Masakatsu G. Fujie, “Developing an Intraoperative Methodology Using the Finite Element Method and the Extended Kalman Filter to Identify the Material Parameters of an Organ Model”, in Proceeding of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’07), pp469-474, 2007

008. Yo Kobayashi, Akinori Onishi, Takeharu Hoshi, Kazuya Kawamura and Masakatsu G. Fujie, “Viscoelastic and Nonlinear Organ Model for Control of Needle Insertion Manipulator”, in Proceeding of the 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’07), pp1242-1248, 2007

007. Kazutaka Toyoda, Takeshi Umeda , Mitsuhiro Oura , Yoriko Iwamori , Kazuya Kawamura , Yo Kobayashi, Haruna Okayasu , Jun Okamoto , Masakatsu G. Fujie, “Development of surgical robot system with heartbeat canceller for endoscopic off-pump coronary artery bypass”, in Proceeding of Computer Assisted Radiology and Surgery 2007 (CARS’07), pp241-24, 2007

006. Yo Kobayashi, Takeharu Hoshi, Kazuya Kawamura and Masakatsu G. Fujie, “Control Method for Surgical Robot to Prevent Overload at Vulnerable Tissue ”, in Proceeding of 2007 IEEE International Conference on Robotics and Automation (ICRA’07), pp.1893-1899, 2007

005. Kazuya Kawamura, Yo Kobayashi, Masakatsu G. Fujie, “Development of Real-time Simulation for Workload Quantification in Robotic Tele-surgery”, in Proceeding of 2006 IEEE International Conference on Robotics and Biomimetics (Robio’06), pp.1420-1425, 2006

004. Mitsuhiro Oura, Yo Kobayashi, Jun Okamoto, Masakatsu G. Fujie,” Development of MRI Compatible Versatile Manipulator for Minimally Invasive Surgery”, Proceedings of 2006 IEEE Biomedical Robotics and Biomechatronics (BioRob’06), pp.176-181, 2006

003. Yo Kobayashi, Jun Okamoto and Masakatsu G. Fujie, “Position Control of Needle Tip with Force Feedback and Liver Model”,in Proceedings of Computer Assisted Radiology and Surgery 2005 (CARS’05) , pp.719-724, 2005

002. Yo Kobayashi, Jun Okamoto and Masakatsu G. Fujie, “Physical Properties of the Liver and the Development of an Intelligent Manipulator for Needle Insertion”, in Proceedings of 2005 IEEE International Conference on Robotics and Automation (ICRA’05), pp.1644-1651, 2005

001. Yo Kobayashi, Jun Okamoto and Masakatsu G. Fujie, “Physical Properties of the Liver for Needle Insertion Control”, in Proceedings of 2004 IEEE International Conference on Intelligent Robots and Systems (IROS’04), pp.2960-2966, 2004

Conference abstracts

27. Quanquan LIu, Yo Kobayashi, Bo Zhang, Yang Cao, Jing Ye, Yuta Sekiguchi, Kazutaka Toyoda, Qixin Cao, Makoto Hashizume and Masakatsu G. Fujie, “A Dextreous Manipulator for Single Port Access Surgery", in Proceedings of The 9th Asian Conference on Computer Aided Surgery (ACCAS13), pp. 102-103, 2013

26. Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Masatoshi Seki, Yasutaka Nakashima, Takehiko Noguchi, Yuki Yokoo and Masakatsu G. Fujie, “Distance between Slave and Endoscope for a Surgical Robot Using Brain Activity Measurement to Evaluate the User's Feeling”, in Proceedings of The 9th Asian Conference on Computer Aided Surgery (ACCAS13) , pp. 80-81, 2013

25. Nozomu Yamazaki, Hiroki Watanabe, Yusuke Isobe, Xiaowei Lu, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie,”Measurement of electromagnetic wave frequency dependence of lung's electrical conductivity with changing a lung’s internal air volumes for lung RFA”, Computer Assisted Radiology and Surgery (CARS13), S10-S11, 2013

24. Inko Elgezua, Yo Kobayashi, Makatsu G. Fujie, “Survey on Current State-of-the-Art in Needle Insertion Robots: Open Challenges for Application in Real Surgery”, The First CIRP Conference on Biomanufacturing, Vol.5, pp.94-99, 2013

23. Sangha Song, Yo Kobayashi, Masakatsu G. Fujie, “Monte-carlo Simulation of Light Propagation considering Characteristic of Near-infrared LED and Evaluation on Tissue Phantom”, The First CIRP Conference on Biomanufacturing, Vol.5, pp.25-30, 2013

22. Takehiko Noguchi, Yo Kobayashi, Kazuya Kawamura, Kazutaka Toyoda, Makoto Hashizume, Masakatsu G. Fujie, “Construction of the Master Manipulator with Six Axis Degree of Freedoms for Robotic System for Single Port Endoscopic Surgery”, in Proceeding of Computer Assisted Radiology and Surgery 2012, S395-S396, 2012

21. Mariko Tsukune, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie, “Breast tumor phantom utilizing heat coagulation mimic nonlinear elasticity”, in Proceeding of Computer Assisted Radiology and Surgery 2012, S437-S438, 2012

20. Nozomu Yamazaki, Yosuke Isobe, Hiroki Watanabe, Takeharu Hoshi, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie, “Modeling the dependence of electrical conductivity on internal lung pressure for lung RFA”, in Proceeding of Computer Assisted Radiology and Surgery 2012, S198-S199, 2012

19. Sangha Song, Yo Kobayashi, Masakatsu G. Fujie, “Measurement of Subcutaneous Fat with Ultrasound Image for Lipoplasty", World Congress on Medical Physics and Biomedical Engineering 2012, TH.11/01.2.-3, 2012

18. XiaoWei Lu, Mariko Tsukune, Nozomu Yamazaki, Hiroki Watanabe, Yo Kobayashi, Tomoyuki Miyashita, Takashi Kakimoto, Hiromasa, Yamashita, Toshio chiba, Masakatsu G. Fujie, “A Method for Distinguishing Coagulation Boundary Tmeperature in liver Tissue for RF Ablation”, The 8th Asian Conference on Computer Aided Surgery (ACCAS 2012), pp.11-12, 2012

17. Mariko Tsukune, Yo Kobayashi, Takeharu Hoshi, Yasuyuki Shiraishi, Tomoyuki Yambe, Masakatu G Fujie, "Nonlinear Reaction Force Analysis for Characterization of Breast Tissues", The 7th Asian Conference on Computer Aided Surgery, 2011

16. Hiroto Seno, Kazuya Kawamura, Yo Kobayashi and Masakatsu G. Fujie, "Study of Design Method for Surgical Robot using Surgeon’s Operation Manner", The 7th Asian Conference on Computer Aided Surgery, 2011

15. Takehiko Noguchi, Yo Kobayashi, Kazuya Kawamura, Hiroki Watanabe, Yu Tomono, Yuta Sekiguchi, Kazutake Toyoda, Makoto Hashizume, Masakatsu G. Fujie, "The Operability of Control Modes of a Master Manipulator for a Robotic System for Assisting Single Port Endoscopic Surgery", The 7th Asian Conference on Computer Aided Surgery, 2011

14. Nozomu Yamazaki, Hiroki Watanabe, Masatoshi Seki, Takeharu Hoshi, Yo Kobayashi, Tomoyuki Miyashita, Masakatsu G. Fujie, “Thermal Conductivity and Temperature Distribution during Radio Frequency Ablation of Lung”, in Proceeding of Computer Assisted Radiology and Surgery 2011 (CARS 2011), S120-S121, 2011

13. Yo Kobayashi, Nozomu Yamazaki, Yusuke Yoshitake, Yusuke Katsuyama, Takeharu Hoshi, Tomoyuki Miyashita, Masakatsu G. Fujie, Erik Bekkers, Masahiko Nakamoto, Yoshinobu Sato, “An atlas-based modelling of lung collapse simulation for system to navigate tumour position”, in Proceeding of The 2nd International Symposium on Computational Anatomy, pp. 27-30, 2011

12. Yu Tomono, Yo Kobayashi, Yuta Sekiguchi, Hiroki Watanabe, Kazutaka Toyoda, Kozo Konishi, Morimasa Tomikawa,Satoshi Ieiri, Kazuo Tanoue, Makoto Hashizume, Masakatsu G. Fujie, “Development of Sheath Manipulator with Spring Backbone for Single Port Endoscopic Surgery”, The 6th Asian Conference on Compulter Aided Surgery, pp. 73-74, 2010

11. J. Hong, R. Hamano, Y. Kobayashi, M. G. Fujie, K. Tanoue, M. Tomikawa, S. Ieiri, K. Konishi, M. Hashizume, “A transfusion robot using ultrasound image and reaction force sensor”, in proceedings of 5th Asian Conference on Computer Aided Surgery, pp.94, 2009

10. K. Kurozumi, Y. Kobayashi, S. Enosawa, T. Chiba, S. Sudou , T. Watanabe, M. G. Fujie, “Measurement of viscoelastic properties of fetal trachea”, in Proceeding of Computer Assisted Radiology and Surgery 2009, pp. 295-296, 2009

9. Y. Kobayashi, A. Onishi, T. Hoshi, K. Kawamura, M.G. Fujie, “Validation of a viscoelastic and nonlinear liver model for needle insertion”, in Proceeding of Computer Assisted Radiology and Surgery 2008, pp. 603-604, 2008

8. A. Kato, Y. Kobayashi, M. G. Fujie, “Force Analysis during Suturing of Coronary Artery”, in Proceeding of Computer Assisted Radiology and Surgery 2008, pp. 246-247, 2008

7. H. Watanabe, Y. Kobayashi, M. G. Fujie, “Study on the temperature dependence of thermal conductivity for constructing a practical thermodynamics model for hepatic RFA”, in Proceeding of Computer Assisted Radiology and Surgery 2008, pp.376-377, 2008

6. B. Zhang, K. Harada, M. Yanagihara, Y. Kobayashi, J. Okamoto, T.Chiba, S. Enozawa, M.G. Fujie ,”Development of robotic patch-stabilizer using wire driven mechanism for minimally invasive fetal surgery”, Asia Conference on Computer Aided Surgery 2007, (ACCAS2007), pp.110108, 2007

5. K. Ikuta, Y. Kobayashi, M. Yanagihara, J. Okamoto, G. Ogura, Y. Koike, H. Yamakawa, M. G. Fujie, “Development of Robotical Ultrasonic Aspirator : Material Properties of the Vibrating Part” Asia Conference on Computer Aided Surgery 2007 (ACCAS2007), pp.110107, 2007

4. Takeharu Hoshi, Kazuya Kawamura , Yo Kobayashi, Masakatsu G. Fujie, “Intraoperative identification of tissue model parameters”, in Proceeding of Computer Assisted Radiology and Surgery(2007), pp. 487, 2007

3. Kazutaka Toyoda, Takeshi Umeda, Mitsuhiro Oura, Yoriko Iwamori, Kazuya Kawamura, Yo Kabayashi, Haruna Okayasu, Jun Okamoto, Masakatsu. G. Fujie “Dexterous master-slave surgical robot for minimally invasive surgery -Intuitive interface and interchangeable surgical instruments-“, in Proceedings of Computer Assisted Radiology and Surgery 2006, pp. 503-504, 2006

2. Mitsuhiro Ohura, Yusuke Mita, Yo Kobayashi, Kosuke Kishi, Jun Okamoto, Masakatsu G. Fujie, ”Development of MRI Compatible SCARA-type Manipulator Using New Gimbals Mechanism”, in Proceedings of 1st Asian Symposium on Computer Aided Surgery, pp.142-144, 2005

1. Yo Kobayashi, Jun Okamoto and Masakatsu G. Fujie, “Physical Property of Liver for Robot-assisted Needle Insrtion”, in Proceedings of Computer Assisted Radiology and Surgery 2004 , pp.1335, 2004