Nobuhiko Mukai Masayuki Harada Katsunobu Muroi Yuji Miyamoto Akihiro Uratani Toru Yano Development of a PC-based real-time surgical simulator. 11-20 2002 33 Systems and Computers in Japan 7 http://dx.doi.org/10.1002/scj.10076 db/journals/scjapan/scjapan33.html#MukaiHMMUY02