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. Author manuscript; available in PMC: 2017 May 1.
Published in final edited form as: IEEE Trans Biomed Eng. 2015 Oct 1;63(6):1167–1177. doi: 10.1109/TBME.2015.2484262

Fig. 7.

Fig. 7

Experimental results showing impact of bent-tip length l on needle radius of curvature ρ in ex vivo tissue. Four tip lengths (4 mm, 8 mm, 12 mm, and 16 mm) were tested. All segmentation results and average values ρavg for each value of l are shown. The needle paths have been moved to a common origin for comparison.