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. Author manuscript; available in PMC: 2022 Oct 25.
Published in final edited form as: Int J Med Robot. 2016 Aug 4;13(2):10.1002/rcs.1762. doi: 10.1002/rcs.1762

Figure 7.

Figure 7.

Multilayer phantoms. (a) A two-layer plastic phantom is made of a combination of plastics with different stiffness. (b) The bio-tissue is made with beef and transparent porcine gelatin