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. Author manuscript; available in PMC: 2010 Jul 17.
Published in final edited form as: Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2008 Oct 19;2008:936–941. doi: 10.1109/BIOROB.2008.4762825

Fig. 2.

Fig. 2

The base of the needle contains a motor that can apply a torque. The tissue can apply a torque to the inserted portion of the needle.