C. Forest, O. Comas, C. Vaysière, L. Soler, and J. Marescaux, Ultrasound and needle insertion simulators built on real patient-based data, Medicine Meets Virtual Reality 15, pp.136-139, 2007.

O. Gerovichev, P. Marayong, and A. M. Okamura, The effect of visual and haptic feedback on computer-assisted needle insertion, Computer Aided Surgery, vol.9, issue.6, pp.243-24910, 1080.

S. J. Johnson, A. E. Healey, J. C. Evans, M. G. Murphy, M. Crawshaw et al., Physical and cognitive task analysis in interventional radiology, Clinical Radiology, vol.61, issue.1, pp.97-103, 2006.
DOI : 10.1016/j.crad.2005.09.003

Y. Li and K. Brodlie, Soft Object Modelling with Generalised ChainMail - Extending the Boundaries of Web-based Graphics, Computer Graphics Forum, vol.20, issue.2000, pp.717-727, 2003.
DOI : 10.1111/j.1467-8659.2003.00719.x

T. A. Matalon and B. Silver, US guidance of interventional procedures., Radiology, vol.174, issue.1, pp.43-4743, 1990.
DOI : 10.1148/radiology.174.1.2403684

F. P. Vidal, A. E. Healey, N. W. John, and D. A. Gould, Force penetration of chiba needles for haptic rendering in ultrasound guided needle puncture training simulator, MICCAI 2008 Workshop on Needle Steering: Recent Results and Future Opportunities, 2008.

F. P. Vidal, N. W. John, A. E. Healey, and D. A. Gould, Simulation of ultrasound guided needle puncture using patient specific data with 3D textures and volume haptics, Computer Animation and Virtual Worlds, vol.211, issue.2, 2008.
DOI : 10.1002/cav.217

P. Villard, W. Bourne, and F. Bello, Modelling Organ Deformation Using Mass-Springs and Tensional Integrity, Proc. Biomedical Simulation, pp.221-226, 2008.
DOI : 10.1007/978-3-540-70521-5_26
URL : https://hal.archives-ouvertes.fr/hal-00849197

P. Villard, M. Jacob, D. A. Gould, and F. Bello, Haptic simulation of the liver with respiratory motion, Medicine Meets Virtual Reality, pp.401-406, 2009.
URL : https://hal.archives-ouvertes.fr/hal-00849196