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. 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. 4 — Hysteresis curve in three sets of bending bodies. White circles signify the first trial of bending in arching and extending. Black circles are for the second trial. (Top) The backbone. (Center) The backbone with the wire guides. (Bottom) The backbone with the wire guides and tendons

Fig. 4 — Hysteresis curve in three sets of bending bodies. White circles signify the first trial of bending in arching and extending. Black circles are for the second trial. (Top) The backbone. (Center) The backbone with the wire guides. (Bottom) The backbone with the wire guides and tendons