Interventional radiology virtual simulator for liver biopsy. - Pierre-Frédéric Villard; Franck Patrick Vidal; Llyr ap Cenydd; Richard Holbrey; S. Pisharody; Sheena Johnson; Andrew J. Bulpitt; Nigel W. John; Fernando Bello; Derek A. Gould (Int. J. Comput. Assist. Radiol. Surg., 2014)