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. Author manuscript; available in PMC: 2010 Apr 26.
Published in final edited form as: Conf Proc IEEE Eng Med Biol Soc. 2009;2009:262–265. doi: 10.1109/IEMBS.2009.5332872

Fig. 1.

Fig. 1

(a) Experimental setup used to robotically steer a flexible bevel-tipped needle though a soft elastic material. (b) Needle with 10° bevel angle and Ø 1.5 cm inserted into gel A (3:1 Plastisol gel) during the macroscopic experimental studies.