TY  - RPRT
TI  - Force modeling for needle insertion into soft tissue.
AU  - Allison M Okamura
AU  - Christina Simone
AU  - Mark D O'Leary
PY  - 2004
DO  - 10.1109/tbme.2004.831542
UR  - https://pubmed.ncbi.nlm.nih.gov/15490818/
ID  - 15490818
ER  -