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Virtual Endoscope System with Force Sensation., , and . ICRA, page 1715-1721. IEEE Robotics and Automation Society, (1999)Virtual Endoscope System with Force Sensation., , and . MICCAI, volume 1496 of Lecture Notes in Computer Science, page 293-304. Springer, (1998)Portable virtual endoscope system with force and visual display., , , and . IROS, page 720-726. IEEE, (2000)