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. Author manuscript; available in PMC: 2015 Sep 1.
Published in final edited form as: Int J Comput Assist Radiol Surg. 2014 Feb 8;9(5):867–874. doi: 10.1007/s11548-014-0982-3

Fig. 3.

Fig. 3

Relationship between bending angle and wire-pulled length on the catheter model. According to this analysis, actuators for pulling wires should have the ability to pull over 10.49mm