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. Author manuscript; available in PMC: 2015 Oct 26.
Published in final edited form as: IEEE Trans Robot. 2015 Feb;31(1):1–11. doi: 10.1109/TRO.2014.2367351

Fig. 3.

Fig. 3

Components of active needle prototype: (a) PTFE outer cannula/sheath, (b) inner needle with active element (see Fig. 2 for design details), and (c) replaceable tips (a symmetric tip and a bevel tip).