HySim: towards development of a hybrid simulation framework with improved visual and tactile realism for minimally invasive surgeries. - Ahammed Waseem Palliyali; Hawa Hamza; Santu Paul; Ali Baig; Abdulla Al-Ansari; Omar Aboumarzouk; Zhigang Deng 001; Nikhil V. Navkar (Virtual Real., 2025)