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. Author manuscript; available in PMC: 2010 Jun 1.
Published in final edited form as: Med Image Anal. 2009 Feb 20;13(3):445–455. doi: 10.1016/j.media.2009.02.001

Fig. 7.

Fig. 7

Force profiles during needle insertion. a) Force in the X-direction vs. Displacement, b) Force in the Y-direction vs. Time, c) Force in the Z-direction vs. Time. © 2008 IEEE.