Kian Meng Lim Fei Wang Tim Poston Li Zhang Chee Leong Teo Etienne Burdet Multi-scale Simulation for Microsurgery Trainer. 1215-1220 2004 conf/icra/2004 ICRA http://dx.doi.org/10.1109/ROBOT.2004.1307990 db/conf/icra/icra2004-2.html#LimWPZLB04