D. Baraff and A. Et-witkin, Large steps in cloth simulation, Proceedings of the 25th annual conference on Computer graphics and interactive techniques , SIGGRAPH '98, pp.43-54, 1998.
DOI : 10.1145/280814.280821

L. Barbe, B. Bayle, M. De-mathelin, and A. Et-gangi, In Vivo Model Estimation and Haptic Characterization of Needle Insertions, The International Journal of Robotics Research, vol.4, issue.1, pp.1283-1301, 2007.
DOI : 10.1177/0278364907082666

M. Baumann, M. Bolla, V. Daanen, J. Descotes, J. Giraud et al., Prosper: Image and robot-guided prostate brachytherapy, IRBM, vol.32, issue.2, pp.63-65, 2011.
DOI : 10.1016/j.irbm.2011.01.019
URL : https://hal.archives-ouvertes.fr/hal-00584045

I. Brouwer, J. Ustin, L. Bentiey, A. Dhruv, and F. Et-tendick, Measuring in vivo animal soft tissue properties for haptic modeling in surgical, 2001.

N. Chentanez, R. Alterovitz, D. Ritchie, L. Cho, K. Hauser et al., Interactive simulation of surgical needle insertion and steering, ACM Transactions on Graphics, pp.28-88, 2009.

T. Cootes, An introduction to active shape models, Image Processing and Analysis, pp.223-248, 2000.

T. Cootes and C. Taylor, Statistical models of appearance for computer vision, Imaging Science and Biomedical Engineering, p.13, 2001.

J. Crouch, C. Schneider, J. Wainer, and A. Et-okamura, A velocitydependent model for needle insertion in soft tissue. Medical Image Computing and Computer-Assisted Intervention?MICCAI, pp.624-632, 2005.

J. Crouch, C. Schneider, J. Wainer, and A. Et-okamura, Needle insertion with tissue relaxation, 2008.

J. Derbyshire, G. Wright, R. Henkelman, and R. Et-hinks, Dynamic scan-plane tracking using MR position monitoring, Journal of Magnetic Resonance Imaging, vol.6, issue.4, pp.924-932, 1998.
DOI : 10.1002/jmri.1880080423

E. Deurloo, K. Gilhuijs, K. Schultze, J. Leo, M. Et et al., Displacement of Breast Tissue and Needle Deviations During Stereotactic Procedures, Investigative Radiology, vol.36, issue.6, p.347, 2001.
DOI : 10.1097/00004424-200106000-00008

. Dimaio, Modelling, simulation and planning of needle motion in soft tissues, the university of british columbia, 2003.

S. Dimaio, Needle insertion modelling and simulation, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), 2002.
DOI : 10.1109/ROBOT.2002.1014850

S. Dimaio and S. Et-salcudean, Needle insertion modelling for the interactive simulation of percutaneous procedures. Medical Image Computing and Computer-Assisted Intervention?MICCAI, pp.253-260, 2002.

S. Dimaio and S. Et-salcudean, Simulated interactive needle insertion. haptics, p.344, 2002.

S. Dimaio and S. Et-salcudean, Needle insertion modeling and simulation. Robotics and Automation, IEEE Transactions on, vol.19, pp.864-875, 2003.

S. Dimaio and S. Et-salcudean, Needle Steering and Motion Planning in Soft Tissues, IEEE Transactions on Biomedical Engineering, vol.52, issue.6, pp.965-974, 2005.
DOI : 10.1109/TBME.2005.846734

S. Dimaio, G. Fischer, S. Maker, N. Hata, I. Iordachita et al., A System for MRI-guided Prostate Interventions, The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006., pp.68-73, 2006.
DOI : 10.1109/BIOROB.2006.1639062

S. Dimaio, E. Samset, G. Fischer, I. Iordachita, G. Fichtinger et al., Dynamic mri scan plane control for passive tracking of instruments and devices. Medical Image Computing and Computer-Assisted Intervention?MICCAI, pp.50-58, 2007.

V. Duindam, J. Xu, R. Alterovitz, S. Sastry, and K. Et-goldberg, Three-dimensional Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics, The International Journal of Robotics Research, vol.5, issue.6, pp.789-800, 2010.
DOI : 10.1177/0278364909352202

C. Duriez, C. Guébert, M. Marchal, S. Cotin, and L. Et-grisoni, Interactive simulation of flexible needle insertions based on constraint models. Medical Image Computing and Computer-Assisted Intervention?MICCAI, pp.291-299, 2009.
URL : https://hal.archives-ouvertes.fr/inria-00540334

G. Fischer, I. Iordachita, C. Csoma, J. Tokuda, S. Dimaio et al., MRI-Compatible Pneumatic Robot for Transperineal Prostate Needle Placement, IEEE/ASME Transactions on Mechatronics, vol.13, issue.3, pp.295-305, 2008.
DOI : 10.1109/TMECH.2008.924044

D. Glozman and M. Et-shoham, Flexible needle steering for percutaneous therapies, Computer Aided Surgery, vol.53, issue.8, pp.194-201, 2006.
DOI : 10.1007/978-1-4757-2257-4

O. Goksel, S. Salcudean, S. Dimaio, R. Rohling, and J. Et-morris, 3D Needle-Tissue Interaction Simulation for Prostate Brachytherapy, Medical Image Computing and Computer-Assisted Intervention?MICCAI 2005, pp.827-834, 2005.
DOI : 10.1007/11566465_102

O. Goksel, K. Sapchuk, and S. Et-salcudean, Haptic Simulator for Prostate Brachytherapy with Simulated Needle and Probe Interaction, IEEE Transactions on Haptics, vol.4, issue.3, 2011.
DOI : 10.1109/TOH.2011.34

C. Guébert, Suture en chirurgie virtuelle : simulation interactive et modèles hétérogènes, 2010.

C. Guébert, C. Duriez, and L. Et-grisoni, Unified processing of constraints for interactive simulation, Proceedings of VRIPHYS. (Non cité, 2008.

J. Hing, A. Brooks, and J. Et-desai, Reality-based needle insertion simulation for haptic feedback in prostate brachytherapy, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., pp.619-624, 2006.
DOI : 10.1109/ROBOT.2006.1641779

J. T. Hing, A. D. Brooks, and J. P. Et-desai, A biplanar fluoroscopic approach for the measurement, modeling, and simulation of needle and softtissue interaction, Medical Image Analysis, issue.11, p.62, 2007.

G. Hocking, S. Hebard, and C. Et-mitchell, A Review of the Benefits and Pitfalls of Phantoms in Ultrasound-Guided Regional Anesthesia, Regional Anesthesia and Pain Medicine, vol.36, issue.2, p.162, 2011.
DOI : 10.1097/AAP.0b013e31820d4207

N. Hungr, C. Fouard, A. Robert, I. Bricault, and P. Et-cinquin, Interventional Radiology Robot for CT and MRI Guided Percutaneous Interventions, pp.137-144, 2011.
DOI : 10.1007/978-3-540-85990-1_61
URL : https://hal.archives-ouvertes.fr/hal-00670172

S. Hushek, B. Fetics, R. Moser, N. Hoerter, L. Russell et al., Initial clinical experience with a passive electromagnetic 3d locator system, 5th Interventional MRI Symp, pp.73-74, 2004.

H. Kataoka, T. Washio, M. Audette, and K. Et-mizuhara, A Model for Relations Between Needle Deflection, Force, and Thickness on Needle Penetration, Medical Image Computing and Computer-Assisted Intervention?MICCAI 2001, pp.966-974, 2001.
DOI : 10.1007/3-540-45468-3_115

H. Kataoka, T. Washio, K. Chinzei, K. Mizuhara, C. Simone et al., Measurement of the tip and friction force acting on a needle during penetration. Medical Image Computing and Computer-Assisted Intervention?MICCAI, pp.216-223, 2002.

P. Kazanzides, G. Fichtinger, G. Hager, A. Okamura, L. Whitcomb et al., Surgical and Interventional Robotics - Core Concepts, Technology, and Design [Tutorial], IEEE Robotics & Automation Magazine, vol.15, issue.2, pp.122-130, 2008.
DOI : 10.1109/MRA.2008.926390

R. Khorasani, D. Adams, R. Newman, G. Topulos, and F. Et-jolesz, Interactive mr-guided biopsy in an open-configuration mr imaging system, Radiology, vol.197, pp.175-181, 1995.

E. Kochavi, D. Goldsher, and H. Et-azhari, Method for rapid MRI needle tracking, Magnetic Resonance in Medicine, vol.3, issue.5, pp.1083-1087, 2004.
DOI : 10.1002/mrm.20065

S. Lavallée, Gestes médico-chirurgicaux assistés par ordinateur : application à la neurochirurgie stéréotaxique, 1989.

D. Leung, J. Debatin, S. Wildermuth, G. Mckinnon, D. Holtz et al., Intravascular MR tracking catheter: preliminary experimental evaluation., American Journal of Roentgenology, vol.164, issue.5, p.1265, 1995.
DOI : 10.2214/ajr.164.5.7717244

M. Marchal, Modélisation des tissus mous dans leur environnement pour l'aide aux gestes médico-chirurgicaux, 2006.

S. Martin, Utilisation d'atlas anatomiques et de modèles déformables pour la segmentation de la prostate en IRM, 2008.

B. Maurin, L. Barbe, B. Bayle, P. Zanne, J. Gangloff et al., IN VIVO STUDY OF FORCES DURING NEEDLE INSERTIONS, Perspective in Image-Guided Surgery, pp.11-12, 2004.
DOI : 10.1142/9789812702678_0056

S. Misra, K. Ramesh, and A. Et-okamura, Modeling of Tool-Tissue Interactions for Computer-Based Surgical Simulation: A Literature Review, Presence: Teleoperators and Virtual Environments, vol.6, issue.1, pp.463-491, 2008.
DOI : 10.1016/S1350-4533(97)00017-9

S. Misra, K. Reed, A. Douglas, K. Ramesh, and A. Et-okamura, Needletissue interaction forces for bevel-tip steerable needles, Biomedical Robotics and Biomechatronics 2nd IEEE RAS & EMBS International Conference on, pp.224-231, 2008.

S. Misra, K. Reed, B. Schafer, K. Ramesh, and A. Et-okamura, Mechanics of Flexible Needles Robotically Steered through Soft Tissue, The International Journal of Robotics Research, vol.29, issue.13, p.1640, 2010.
DOI : 10.1177/0278364910369714

R. Murray, Z. Li, and S. Et-sastry, A mathematical introduction to robotic manipulation, CRC, 1994.

S. Nath, Z. Chen, N. Yue, S. Trumpore, and R. Et-peschel, Dosimetric effects of needle divergence in prostate seed implant using 125I and 103Pd radioactive seeds, Medical Physics, vol.38, issue.5, p.1058, 2000.
DOI : 10.1118/1.598971

A. Okamura, C. Simone, and M. Leary, Force Modeling for Needle Insertion Into Soft Tissue, IEEE Transactions on Biomedical Engineering, vol.51, issue.10, pp.1707-1716, 2004.
DOI : 10.1109/TBME.2004.831542

W. Park, J. Kim, Y. Zhou, N. Cowan, A. Okamura et al., Diffusion-based motion planning for a nonholonomic flexible needle model, Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on, pp.4600-4605, 2005.

Y. Park, S. Elayaperumal, B. Daniel, S. Ryu, M. Shin et al., Real-Time Estimation of 3-D Needle Shape and Deflection for MRI-Guided Interventions, IEEE/ASME Transactions on Mechatronics, vol.15, pp.906-915, 2010.
DOI : 10.1109/TMECH.2010.2080360

T. Podder, J. Sherman, D. Fuller, E. Messing, D. Rubens et al., In-vivo Measurement of Surgical Needle Intervention Parameters: A Pilot Study, 2006 International Conference of the IEEE Engineering in Medicine and Biology Society, pp.3652-3655, 2006.
DOI : 10.1109/IEMBS.2006.259917

T. Podder, D. Clark, J. Sherman, D. Fuller, E. Messing et al., motion and force measurement of surgical needle intervention during prostate brachytherapy, Medical Physics, vol.2878, issue.4, p.2915, 2006.
DOI : 10.1088/0031-9155/48/14/310

P. L. Roberson, V. Narayana, D. L. Mcshan, R. J. Winfield, and P. W. Et-mclaughlin, Source placement error for permanent implant of the prostate, Medical Physics, vol.28, issue.2, p.251, 1997.
DOI : 10.1118/1.598058

R. Roesthuis, Y. Van-veen, A. Jahya, and S. Et-misra, Mechanics of needle-tissue interaction, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011.
DOI : 10.1109/IROS.2011.6094969

C. Simone and A. Et-okamura, Modeling of needle insertion forces for robot-assisted percutaneous therapy, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), pp.2085-2091, 2002.
DOI : 10.1109/ROBOT.2002.1014848

D. Van-gerwen, J. Dankelman, and J. Et-van-den-dobbelsteen, Needle???tissue interaction forces ??? A survey of experimental data, Medical Engineering & Physics, vol.34, issue.6, 2012.
DOI : 10.1016/j.medengphy.2012.04.007

T. Washio and K. Et-chinzei, Needle Force Sensor, Robust and Sensitive Detection of the Instant of Needle Puncture, Medical Image Computing and Computer-Assisted Intervention?MICCAI 2004, pp.113-120, 2004.
DOI : 10.1007/978-3-540-30136-3_15

R. Webster, J. Kim, N. Cowan, G. Chirikjian, and A. Et-okamura, Nonholonomic Modeling of Needle Steering, The International Journal of Robotics Research, vol.25, issue.5-6, pp.509-525, 2006.
DOI : 10.1177/0278364906065388

I. Webster, R. Memisevic, J. Et-okamura, and A. , Design Considerations for Robotic Needle Steering, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp.3588-3594, 2005.
DOI : 10.1109/ROBOT.2005.1570666

R. Werner, S. Krueger, A. Winkel, C. Albrecht, T. Schaeffter et al., MR-guided breast biopsy using an active marker: A phantom study, Journal of Magnetic Resonance Imaging, vol.52, issue.1, pp.235-241, 2006.
DOI : 10.1002/jmri.20600

W. Yang, Conception et intégration de microsystèmes sur un cylindre pour la mesure de ses déformations : application à un outil du domaine de la santé, 2011.

W. Yang, A. Bonvilain, T. Alonso, A. Moreau-gaudry, and S. Et-basrour, Modelling and characterization of an instrumented medical needle in sight of new microsensor design for its insertion guidance, 2010 Annual International Conference of the IEEE, pp.6465-6468, 2010.
URL : https://hal.archives-ouvertes.fr/hal-00560545