@conference {BCDRIS96,
	title = { A sensor-based minimally invasive surgery tool for detecting tissue elastic properties },
	booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation},
	year = {1996},
	pages = {884-888},
	keywords = {Haptics, Tools for Minimally Invasive Surgery},
	author = {A. Bicchi and G. Canepa and D. De Rossi and P. Iacconi and E. P. Scilingo}
}
