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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. 9.

Fig. 9

(a) Photograph of breast phantom after tumor insertion. (b) Force profile during insertion and withdrawal into phantom breast tissue with tumor. Changing force profile coincides with images from the dynamic scan, depicting (c) initial position (t = 0.0s), (d) tissue puncture (t = 16.7s), (e) tumor puncture (t = 30.1s), and (f) withdrawal from tumor (t = 66.9s). © 2008 IEEE.