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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. 7.

Fig. 7

Two dynamic effects influence how pre-curved needles steer: insertion speed and relaxation. (a) Insertion speed affects the path that a needle cuts through the tissue during insertion. (b) Immediately after insertion, the needle and the tissue relax to a static equilibrium. A faster insertion speed correlates to more pronounced relaxation. (This data is from Needle 2, β = 30°.)