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. Author manuscript; available in PMC: 2022 Jun 1.
Published in final edited form as: IEEE Trans Biomed Eng. 2022 Feb 21;69(3):1123–1132. doi: 10.1109/TBME.2021.3114638

Fig. 2.

Fig. 2.

The characteristic of the force and velocity, (a) before puncture, pushing the needle, (b) before puncture, retracting the needle and (c) at the moment of puncture