  A finite Sturmian word w over the alphabet {a,b} is left special (resp. right
special) if aw and bw (resp. wa and wb) are both Sturmian words. A bispecial
Sturmian word is a Sturmian word that is both left and right special. We show
as a main result that bispecial Sturmian words are exactly the maximal internal
factors of Christoffel words, that are words coding the digital approximations
of segments in the Euclidean plane. This result is an extension of the known
relation between central words and primitive Christoffel words. Our
characterization allows us to give an enumerative formula for bispecial
Sturmian words. We also investigate the minimal forbidden words for the set of
Sturmian words.
