@article{6200309,
  author = {Tang, W. and Wan, T. R. and Gould, D. A. and How, T. and John, N. W.},
  journal = {IEEE Transactions on Biomedical Engineering},
  title = {A Stable and Real-Time Nonlinear Elastic Approach to Simulating Guidewire and Catheter Insertions Based on Cosserat Rod},
  year = {2012},
  volume = {59},
  number = {8},
  pages = {2211-2218},
  doi = {10.1109/TBME.2012.2199319},
  issn = {0018-9294},
  month = aug
}