@inproceedings{chan2009haptically,
  title = {A haptically enhanced interventional radiology vascular simulator for training the Seldinger technique.},
  author = {Chan, TY and Luboz, V and Bello, F and Hughes, C and John, NW and Gould, DA},
  year = {2009},
  booktitle = {Cardiovascular and Interventional Radiological Society of Europe, CIRSE}
}