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(a) Preparation process using Joint 1 and Joint 2, (b) Needle penetrates to skin at target point using Joint 3 and Joint 4, (c) Target graft was harvested in phase, (d) Transferring of needle moving unit along curved rail, (e) Implant phase using joint 3 to insert graft to skin, (f) Last step, needle retracted by Joint 5 to finish one loop.
