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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. 3.

Fig. 3.

The needle tip geometry, tip face forces, and optical microscopy image of the (a) SB, (b) LMB, (c) AMB, and (d) HMB needles.