Skip to main content
. Author manuscript; available in PMC: 2016 Oct 1.
Published in final edited form as: Int J Comput Assist Radiol Surg. 2015 Oct 17;11(4):589–602. doi: 10.1007/s11548-015-1310-2

Fig. 2.

Fig. 2

Side views of bending bodies for significance validation. (Left) Backbone: The backbone is a control of the validation. (Center) Backbone with wire guides: The wire guides fitted the identical backbone to the control. The wire guides were drawn as transparent parts to show the geometrical relationship between the wire guides and the backbone. (Right) Backbone with wire guides and tendons: An antagonistic pair of tendons went through and pressed the wire guides with a pretensioning of 4 N. The wire guides were drawn as transparent parts to show geometrical relationship between the wire guides and the backbone