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. Author manuscript; available in PMC: 2010 Apr 27.
Published in final edited form as: Conf Proc IEEE Eng Med Biol Soc. 2009;2009:1200–1203. doi: 10.1109/IEMBS.2009.5333407

Fig. 1.

Fig. 1

Three types of tip asymmetry: (a) bevel (Quincke tip), (b) pre-bend, and (c) pre-curve. This paper considers steering pre-curved needles.