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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

Table 1.

Phantom characteristics

Phantom Notation Ingredient
1 Soft SS Super soft plastic, 3:1 Softener
2 S Super soft plastic
3 R Regular plastic
4 H Regular plastic, 4:1 Hardener
5 Hard HH Regular plastic, 2:1 Hardener