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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. 5.

Fig. 5.

(a) An overview of the needle deflection experiment, (b) the experimental setup, and the images with the locations of SB needle tip point A at the end of the insertion (c) without and (d) with the PVC phantom.