BibTex format
@article{Watts:2019:10.1109/TRO.2018.2879584,
author = {Watts, TE and Secoli, R and Rodriguez, y Baena F},
doi = {10.1109/TRO.2018.2879584},
journal = {IEEE Transactions on Robotics},
pages = {371--386},
title = {A mechanics-based model for 3D steering of programmable bevel-tip needles},
url = {http://dx.doi.org/10.1109/TRO.2018.2879584},
volume = {35},
year = {2019}
}