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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. 9.

Fig. 9

Schematic of the forces that can result in slicing of the tissue. The tissue applies a force perpendicular to the needle shaft, redirecting the insertion force from the base of the needle to the tip of the needle. Too much force will cause the needle to slice through the tissue.