add usage examples

Author: th-skam

README.md

@@ -23,6 +23,15 @@ plugin by InfinyTech3D for an enhanced simulation experience. Contact us for mor
 - Support for haptic feedback such as resistance during puncture and friction during insertion
 - Compatible with SOFA-Unity integration for real-time interactive applications
 
+## Usage
+
+- To use the plugin, include the `CollisionAlgorithm` plugin in your SOFA scene file.
+``` <RequiredPlugin name=`CollisionAlgorithm`/> ``` for an .xml scene file.
+- Add the `CollisionLoop` component in the root node of your scene.
+``` <CollisionLoop/> ``` 
+This component substitutes the default `CollisionPipeline` in SOFA for managing the needle collision. 
+The two components can co-exist.
+
 ## Installation and Setup
 
 First review the official SOFA documentation for building and registering SOFA plugins