@article{villard2009prototype, title = {A prototype percutaneous transhepatic cholangiography training simulator with real-time breathing motion}, author = {Villard, Pierre-Fr{\'e}d{\'e}ric and Vidal, Franck P and Hunt, Carrie and Bello, Fernando and John, Nigel W and Johnson, Sheena and Gould, Derek A}, journal = {International journal of computer assisted radiology and surgery}, volume = {4}, number = {6}, pages = {571--578}, year = {2009}, publisher = {Springer-Verlag} }