Skip to main content
. 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. 3.

Fig. 3

Finite element simulation results showing (a) the angle along the needle and (b) the internal torque for three scenarios: (1) the base was rotated to 45° and held (initial rotation), (2) the base was rotated to 45° and then moved such that the torque was zero (relaxed), and (3) the base was rotated to 45° and then rotated to the same angle as the tip (base equals tip angle). The torque measured at the base only relates to the torsion lag after the initial rotation.