?url_ver=Z39.88-2004&rft_id=10.1109%2FITSIM.2010.5561364&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.au=Ahmad%2C+I.&rft.aulast=Ahmad&rft.aufirst=I.&rft.isbn=9781424467181&rft.date=2010&rft.title=Evaluation+of+real-time+Visio-haptic+deformable+Bovine+Rectal+Palpation+Simulator&rft.genre=proceeding