Skip to main content
. 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. 11.

Fig. 11

Extreme examples of a corkscrew pattern resulting from a needle being inserted while slowly rotating and retracting inside an artificial tissue. (a) The needle was inserted while spinning slowly; notice the cut tissue surrounding the needle in a corkscrew pattern. (b) When the needle was retracted, these helical motions were left cut in the tissue.