Modeling of the interaction force between the instrument and the trocar in minimally invasive surgery. - J. Verspecht; Thomas Delwiche; Arianna Buttafuoco; Laurent Catoire; Serge Torfs; Michel Kinnaert (AMC, 2010)

Identification of a hybrid model for simulation of the instrument/trocar interaction force. - J. Verspecht; Laurent Catoire; Serge Torfs; Michel Kinnaert (IROS, 2011)