Jian Wang Shuxiang Guo Hidekazu Kondo Jian Guo Takashi Tamiya A Novel Catheter Operating System with Force Feedback for Medical Applications. 83-92 2008 5 I. J. Information Acquisition 1 http://dx.doi.org/10.1142/S021987890800151X db/journals/ijia/ijia5.html#WangGKGT08