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. Author manuscript; available in PMC: 2022 May 1.
Published in final edited form as: IEEE Trans Biomed Eng. 2021 Apr 22;68(5):1477–1486. doi: 10.1109/TBME.2021.3054922

Fig. 2.

Fig. 2.

Needle deflection mechanics in biopsy for (a) a single-bevel needle (in current commercial biopsy devices) and (b) a multi-bevel needle with two bevel facets (as an example), and (c) the definition of da and its relationship with each variable.