1. Alderliesten, T.: Simulation of Minimally-Invasive Vascular Interventions for Training Purposes. PhD dissertation, Utrecht University (December 2004)
2. American Heart Association. Heart and stroke facts statistics: Statistical supplement. American Heart Association, Dallas, Texas (1999)
3. Cotin, S., Dawson, S., Meglan, D., Shaffer, D., Ferrell, M., Sherman, P.: Icts, an interventional cardiology training system. In: Westwood, J.D., et al. (eds.) Proceedings of Medicine Meets Virtual Reality, pp. 59–65. IOS Press, Amsterdam (2000)
4. Duriez, C., Andriot, C., Kheddar, A.: Signorini’s contact model for deformable objects in haptic simulations. In: IEEE-IROS, pp. 3232–3237 (2004)
5. Featherstone, R.: The calculation of robot dynamics using articulated-body inertias. International Journal of Robotics Research 2(1), 13–30 (1983)