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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 5.

Figure 5

The rupture toughness is measured by finding the difference in insertion force when the needle tip is (a) inside the tissue (i.e., cutting the tissue) compared to (b) when the needle tip is outside the tissue (i.e., not cutting).