Jackson Shin-Kiat Ong Chee-Kong Chui Zhenlan Wang Jing Zhang Jeremy Choon-Meng Teo Chye Hwang Yan Sim Heng Ong Chee Leong Teo Swee-Hin Teoh Biomechanical Modeling of Bone-Needle Interaction for Haptic Rendering in Needle Insertion Simulation. 1-6 2006 ICARCV http://dx.doi.org/10.1109/ICARCV.2006.345477 conf/icarcv/2006 db/conf/icarcv/icarcv2006.html#OngCWZTYOTT06