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. Author manuscript; available in PMC: 2011 Apr 3.
Published in final edited form as: IEEE Int Conf Robot Autom. 2010 May 3;2010:2068–2073. doi: 10.1109/ROBOT.2010.5509873

Fig. 5.

Fig. 5

Effects of insertion velocity on shaft curvature for four different shaft diameters and three different insertions in two livers (one insertion into Liver 1 (L1.1) and two insertions into Liver 2 (L2.1, L2.2)).