HySim: towards development of a hybrid simulation framework with improved visual and tactile realism for minimally invasive surgeries. - Palliyali, Waseem; Hamza, Hawa; Paul, Santu; Baig, Ali; Al-Ansari, Abdulla; Aboumarzouk, Omar; Deng, Zhigang; Navkar, Nikhil V. (Virtual Reality, 2025)