@article{tang2012stable,
  title = {A Stable and Real-time Nonlinear Elastic Approach to Simulating Guide-wire and Catheter Insertions based on Cosserat Rod},
  author = {Tang, Wen and Wan, Tao Ruan and Gould, Derek A and How, Thien and John, Nigel W},
  journal = {IEEE Transactions on Biomedical Engineering},
  number = {99},
  pages = {1--1},
  year = {2012},
  publisher = {IEEE}
}