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. Author manuscript; available in PMC: 2012 Nov 8.
Published in final edited form as: IEEE Robot Autom Mag. 2011 Dec 8;18(4):35–46. doi: 10.1109/MRA.2011.942997

Fig. 10.

Fig. 10

Examples of buckling inside tissue. (a) The needle tip encountered a hard spot in the bovine liver and, since the tip could no longer move forward, the continued insertion caused the needle to buckle near the insertion point. (b) Two superimposed pictures of the needle during an insertion into artificial tissue showing buckling near the base due to friction along the shaft of the needle.