Ullrich Meier Francisco Javier García Nils-Christian Parr Carlos Monserrat José Antonio Gil Vicente Grau M. Carmen Juan Lizandra Mariano Alcañiz Raya 3D surgery trainer with force feedback in minimally invasive surgery. 32-37 2001 conf/cars/2001 CARS db/conf/cars/cars2001.html#MeierGPMGGLR01