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Needle deflection measurement results: (a) the experimental images of needle tip point A at the baseline locations (top) and after the insertion into the transparent PVC phantom in the experiment (bottom) and (b) the L-SPG predicted needle deflection δp vs. the experimental measured needle deflection δ (error bars representing one standard deviation from 10 insertions) for the SB, LMB, AMB, and HMB needles.
