@misc{indiciaec258350780cd,
  title = {Rendering of virtual fixtures for MIS using generalized sigmoid functions.},
  author = {Jing Ren and Rajni V Patel and Kenneth A McIsaac},
  year = {2006},
  url = {https://pubmed.ncbi.nlm.nih.gov/16404096/},
  note = {Source identifier: 16404096}
}