Skip to main content
. Author manuscript; available in PMC: 2017 Aug 7.
Published in final edited form as: IEEE Trans Biomed Eng. 2014 Jul 1;61(12):2899–2910. doi: 10.1109/TBME.2014.2334309

Fig. 7.

Fig. 7

Vibration module. A voice coil actuator is attached to the steerable needle using a 3-D-printed clip, and used to vibrate the needle vertically (in and out of the page).