TrEndo, a device for tracking minimally invasive surgical instruments in training setups. Chmarra, M., Bakker, N., Grimbergen, C., & Dankelman, J. Sensors and Actuators A: Physical, 126(2):328--334, 2006.
bibtex   
@article{chmarra_trendo_2006,
	title = {{TrEndo}, a device for tracking minimally invasive surgical instruments in training setups},
	volume = {126},
	number = {2},
	journal = {Sensors and Actuators A: Physical},
	author = {Chmarra, M.K. and Bakker, N.H. and Grimbergen, C.A. and Dankelman, J.},
	year = {2006},
	pages = {328--334}
}
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