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. Author manuscript; available in PMC: 2011 Oct 19.
Published in final edited form as: Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2008 Oct 19:224–231. doi: 10.1109/BIOROB.2008.4762872

Fig. 10.

Fig. 10

FE simulation setup used to model needle and tissue interaction for a needle with 55° bevel angle and 0.71 mm diameter. The needle tip was made of nitinol (E = 50 GPa, ν = 0.3). (a) The green border used to signify contact surfaces and the elements in red are assigned to be the cohesive zone. (b) Magnitude of nodal displacement contour plot for the needle tip penetrating the tissue.