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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. 7.

Fig. 7

Insertion force versus distance travelled by needle used for rupture toughness measurement. The representative snapshots show the needle tip interacting and outside the tissue samples. Data collected in the windows during which the needle tip travelled L1 are used to calculate Gftc and Gft.