title = {Interventional radiology virtual simulator for liver biopsy},
  author = {Villard, Pierre-Fr{\'e}d{\'e}ric and Vidal, Franck Patrick and Ap Cenydd, Llyr and Holbrey, Richard and Pisharody, S and Johnson, Sheena and Bulpitt, Andy and John, Nigel W and Bello, Fernando and Gould, D},
  journal = {International Journal of Computer Assisted Radiology and Surgery},
  volume = {9},
  number = {2},
  pages = {255--267},
  year = {2014},
  publisher = {Springer Berlin Heidelberg}