Skip to main content
. 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. 12.

Fig. 12

(a) FE simulation model for performing tip force versus bevel angle and tissue elasticity sensitivity studies. (b) Example FE mesh for a 20° bevel angle where the elements within the red border have been assigned needle material properties.