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. Author manuscript; available in PMC: 2022 Oct 1.
Published in final edited form as: IEEE ASME Trans Mechatron. 2020 Dec 18;26(5):2758–2769. doi: 10.1109/tmech.2020.3045875

Fig. 6.

Fig. 6.

Generated vein model and with two-part trajectory for approaching the desired cannulation point.