A haptic-enhanced 3D real-time interactive needle insertion simulation for prostate brachytherapy

@inproceedings{Wang2004AH3,
  title={A haptic-enhanced 3D real-time interactive needle insertion simulation for prostate brachytherapy},
  author={Xiaogang Wang and Aaron Fenster},
  booktitle={Medical Imaging: Image-Guided Procedures},
  year={2004}
}