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. Author manuscript; available in PMC: 2013 Sep 1.
Published in final edited form as: IEEE Trans Biomed Eng. 2012 Jun 13;59(10):2705–2715. doi: 10.1109/TBME.2012.2204749

Fig. 11.

Fig. 11

Needle insertion and retraction forces for in vivo experiments. For insertions into liver, the mean of three insertions of the same needle type is shown with standard deviation error bars.