@article{soler2010model,
  title = {A model for flexible tools used in minimally invasive medical virtual environments.},
  author = {Soler, Francisco and Luzon, M Victoria and Pop, Serban R and Hughes, Chris J and John, Nigel W and Torres, Juan Carlos},
  journal = {Studies in health technology and informatics},
  volume = {163},
  pages = {594--598},
  year = {2010}
}