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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. 2.

Fig. 2

Schematic of a bevel-tip needle interacting with a soft elastic medium. The two dimensional model incorporates tip forces generated by rupture, tissue properties (toughness: Gc, nonlinear elasticity: C10) and needle properties (bevel angle: α and flexural rigidity: EI).