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. Author manuscript; available in PMC: 2023 Nov 2.
Published in final edited form as: Ann Biomed Eng. 2020 Aug 27;48(12):2707–2733. doi: 10.1007/s10439-020-02597-8

FIGURE 11.

FIGURE 11.

(a) prototype of Auxetic materials needle driver, (b) working phases of needle insertion, (c) envelope structure pattern unit, and (d) view of the outer envelope.67