A Real-time Graphic Environment for a Urological Operation Training Simulator. - Evangelos Papadopoulos; Alkiviadis Tsamis; Kostas Vlachos (ICRA, 2004)

Development of a real-time visual and force environment for a haptic medical training simulator. - Evangelos Papadopoulos; Alkiviadis Tsamis; Kostas Vlachos (Artif. Life Robotics, 2008)