A Computational Technique for Interactive Needle Insertions in 3D Nonlinear Material.

Han-Wen Nienhuys A. Frank van der Stappen A Computational Technique for Interactive Needle Insertions in 3D Nonlinear Material. 2061-2067 2004 conf/icra/2004 ICRA http://dx.doi.org/10.1109/ROBOT.2004.1308127 db/conf/icra/icra2004-2.html#NienhuysS04