@article{villard2014interventional, title = {Interventional radiology virtual simulator for liver biopsy}, author = {Villard, Pierre-Fr{\'e}d{\'e}ric and Vidal, Franck Patrick and Ap Cenydd, Llyr and Holbrey, Richard and Pisharody, S and Johnson, Sheena and Bulpitt, Andy and John, Nigel W and Bello, Fernando and Gould, D}, journal = {International Journal of Computer Assisted Radiology and Surgery}, volume = {9}, number = {2}, pages = {255--267}, year = {2014}, publisher = {Springer Berlin Heidelberg} }