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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 21.

Figure 21

Variation in the (a) needle radius of curvature and (b) simulation steps as the total force changes. Also, shown are changes in the (c) simulation steps as the input force varies and (d) needle insertion length as the simulation steps varies. The total force is defined as the input force multiplied by the number of simulation steps required by the needle to reach the prescribed deflection of 50 mm.