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Tissue strain rates as a function of slow (0.5 mm/s and 90°/s), medium (1 mm/s and 180°/s), and fast (2 mm/s and 360°/s) simultaneous insertion and rotation of the prototype bevel-tipped needle (5 Fr, bevel angle 10°, fillet radius 0.25 mm) in the hyperelastic–viscoelastic finite element model.
