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. Author manuscript; available in PMC: 2011 Oct 1.
Published in final edited form as: Int J Rob Res. 2010 Nov;29(13):1640–1660. doi: 10.1177/0278364910369714

Figure 1.

Figure 1

Asymmetry of the bevel tip produces a resultant transverse load which causes a flexible needle to naturally bend when it is inserted through a soft medium. This phenomenon is not observed in needles with symmetric tips.