Jung Kim Suvranu De Mandayam A. Srinivasan Computationally Efficient Techniques for Real Time Surgical Simulation with Force Feedback. 51-57 2002 Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems http://computer.org/proceedings/haptics/1489/14890051abs.htm db/conf/haptics/haptics2002.html#KimDS02