A prototype master-slave system consisting of two MR-compatible manipulators with interchangeable surgical tools: part of a unified support system for diagnosis and treatmentFujio Tajima, S Takamoto, Hiroshi Ishii et al.|Unknown|2004Cited by 14
An MR-compatible master–slave manipulator with interchangeable surgical toolsFujio Tajima, Shinichi Takamoto, Kousuke Kishi et al.|International Congress Series|2003Cited by 9