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. Author manuscript; available in PMC: 2013 Jun 7.
Published in final edited form as: IEEE Trans Biomed Eng. 2012 Apr 3;59(7):1902–1911. doi: 10.1109/TBME.2012.2192118

Fig. 3.

Fig. 3

Model of various needle insertion angles: tilt angle of 18°, 28°, 38° and rotation angle of −30°, −15°, 0°, 15°, 30°. Reference lines represent the initial needle insertion axis, the tilt axis and the line between rotation axis and the pivot point of tilt angle.