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. Author manuscript; available in PMC: 2018 Apr 1.
Published in final edited form as: IEEE Sens J. 2017 Jan 17;17(7):1952–1963. doi: 10.1109/JSEN.2017.2654489

Fig. 6.

Fig. 6

Three axis intensity modulated fiber optic force sensor. a) reflective fiber optic sensor from University of Maryland for breast biopsy [41] ©2011 IEEE; b) reflective fiber optic sensor for cardiac interventions from Imperial College [16] ©2011 IEEE; c) reflective fiber optic sensor for prostate biopsy by Su et al. from Worcester Polytechnic Institute [38] ©2009 IEEE; d) reflective fiber optic sensor for minimally invasive surgical palpation from Imperial College [39] ©2012 IEEE.