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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. 11.

Fig. 11

FE simulation results for needle tip forces with variation in nonlinear material elasticity and rupture toughness.