@misc{indiciaeab5fbd3ebf28,
  title = {Force modeling for needle insertion into soft tissue.},
  author = {Allison M Okamura and Christina Simone and Mark D O'Leary},
  year = {2004},
  doi = {10.1109/tbme.2004.831542},
  url = {https://pubmed.ncbi.nlm.nih.gov/15490818/},
  note = {Source identifier: 15490818}
}