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. Author manuscript; available in PMC: 2017 Dec 12.
Published in final edited form as: Proc Int Conf Adv Robot. 2015 Sep 10;2015:130–136. doi: 10.1109/ICAR.2015.7251445

Fig. 7.

Fig. 7

Deflection behavior of an 18 G biopsy needle vs. a 20 G brachytherapy needle in a soft plastic phantom. When inserted without any rotations, the 20 G brachytheraphy needle bends significantly more. The radii of curvature were computed respectively as 875 mm and 608 mm.