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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. 8.

Fig. 8

Distributed load (compresssive and frictional forces) acting on a needle shaft as it interacts with an elastic medium. Inset: Forces acting on the bevel tip, where P and Q are the resultant forces along the bevel edge. qx and qy are the resultant forces along the bottom edge of the needle tip.