@inproceedings{Chentanez:2009:ISN,
  doi = {10.1145/1576246.1531394},
  title = {Interactive Simulation of Surgical Needle Insertion and Steering},
  booktitle = {Proceedings of ACM SIGGRAPH 2009},
  author = {Nuttapong Chentanez and Ron Alterovitz and Daniel Ritchie and Lita Cho and Kris K. Hauser and Ken Goldberg and Jonathan R. Shewchuk and James F. O'Brien},
  month = {Aug},
  location = {New Orleans, Louisiana},
  year = 2009,
  pages = {88:1-10},
  url = {https://objf.ai/papers/Chentanez-ISN-2009-08/},
}