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Force-guided puncture detection results. Stopping error is the difference between the final needle tip position and its target (vessel center).
| Vessel size ID (mm) | Success rate (%) | Stopping error (mm) |
|---|---|---|
| 3.35 | 100% (n = 20) | 1.2 ± 0.9 |
| 1.50 | 80% (n = 20) | 0.7 ± 0.6 |
