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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. 13.

Fig. 13

FE simulation results depicting the sensitivity of tip forces to changes in bevel angle and tissue elasticity, where the solid lines show the trend in the tip forces.