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. Author manuscript; available in PMC: 2011 Mar 1.
Published in final edited form as: IEEE Trans Biomed Eng. 2010 Feb 17;57(5):1008–1011. doi: 10.1109/TBME.2009.2039570

Fig. 7.

Fig. 7

(Left) In vivo force sensing setup; Ultrasound probe is pressed against the beating porcine heart, and the force sensor is inserted in the left atrium. (Right) Ultrasound image of the mitral valve and force sensor inside the heart.