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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

TABLE I.

Needle Tip Measurements

Diameter Tip Parameter Values for 5 needles
0.74 mm Bevel α (deg) - - 43.5 - -
0.58 mm Bevel α 11.0 27.5 45.0 56.0 79.0
Bent θ (deg) 8.0 16.0 34.0 42.0 56.0
α 43.5 42.0 45.0 44.0 45.0
l (mm) 3.45 3.69 4.92 3.25 3.73
0.48 mm Bevel α 9.0 28.0 46.0 59.0 79.0
Bent θ 8.0 15.0 22.0 35.0 58.0
α 46.0 44.5 44.0 42.0 42.0
l 3.49 3.28 4.13 3.88 4.66
0.38 mm Bevel α - - 46.0 - -