?url_ver=Z39.88-2004&rft_id=10.1109%2FSCORED.2009.5443248&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.au=Fazal%2C+I.&rft.aulast=Fazal&rft.aufirst=I.&rft.title=Needle+insertion+simulation+forces+v%2Fs+experimental+forces+for+haptic+feedback+device&rft.date=2009&rft.isbn=9781424451876&rft.genre=proceeding