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. Author manuscript; available in PMC: 2014 Feb 10.
Published in final edited form as: Med Image Comput Comput Assist Interv. 2012;15(0 3):566–573. doi: 10.1007/978-3-642-33454-2_70

Fig 3.

Fig 3

Drawing of the collision force. By design, that force does not restrict sliding but only penalizes inter-penetration of the thorax and lung.