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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. 6.

Fig. 6

The blue dashed circle centered about the blue × accurately describes the tip locations during the insertion (small blue dots) but it fails to represent the shape of the needle shaft at various insertion lengths (colored lines) when the pre-curve is long. (This data is from Needle 1, 1.5mm/s insertion speed)