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. Author manuscript; available in PMC: 2018 Jun 1.
Published in final edited form as: IEEE Robot Autom Lett. 2017 Feb 14;2(3):1367–1374. doi: 10.1109/LRA.2017.2668467

Fig. 6.

Fig. 6

Articulation angle tests in phantom tissue. (a) Summary of experimental measurement of the radius of curvature in phantom tissue during insertion with no needle rotation. Three tip angles were tested (for ten repetitions): θ = 0°, θ= θa/2 (25°), and θ = θa (50°). The graph reports actual values and mean value ± standard deviation: ρ1 =110.8 ± 5.3 mm, ρ2 =73.3 ± 4.9 mm, ρ3 =34.5 ± 1.2 mm. The dotted red line superimposed on the needle in the pictures represents the section of needle path used for estimating the radius of curvature.