@article{tang2012stable, title = {A Stable and Real-time Nonlinear Elastic Approach to Simulating Guide-wire and Catheter Insertions based on Cosserat Rod}, author = {Tang, Wen and Wan, Tao Ruan and Gould, Derek A and How, Thien and John, Nigel W}, journal = {IEEE Transactions on Biomedical Engineering}, number = {99}, pages = {1--1}, year = {2012}, publisher = {IEEE} }