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To facilitate training of biological cell injection operations, we are developing an interactive virtual environment to simulate needle insertion into biological cells. A key challenge of deformable simulation is to satisfy the conflicting requirements of real-time interactivity and physical realism. This paper presents methodologies for dynamic modeling, visual/haptic display and model validation of cell injection. We first investigate the challenging issues in the modeling of thedoi:10.1109/iros.2008.4650973 dblp:conf/iros/LadjalHF08 fatcat:kru75yxgdjclrogtvol5ipw7vq