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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. 4.

Fig. 4.

An overview of a 3D L-SPG model of needle-tissue interaction: (a) an isometric view of the SB needle insertion into the soft tissue and the (b) isometric, (c) front (yz plane), and (d) side (xy plane) views of the SPG tissue particles and Lagrangian needle meshes.