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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 23.

Figure 23

Computed variation in the radius of curvature as the energy dissipation due to friction (0% to 50% of input work) and needle diameter (Ø 0.3 mm, Ø 0.4 mm, and Ø 0.5 mm) are changed. Items in the legend represent needle diameters. The needle insertion distance was prescribed to be 150 mm.