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. Author manuscript; available in PMC: 2013 Aug 1.
Published in final edited form as: Conf Proc IEEE Eng Med Biol Soc. 2012 Aug;2012:916–919. doi: 10.1109/EMBC.2012.6346081

Figure 1.

Figure 1

Duty-cycled needle steering apparatus. Independent motors for translation (A) and rotation (B) insert the needle (C: external sheath) into the gelatin sample (D). A digital camera (E) mounted directly above the gelatin captures images during insertion.