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. 2022 Oct 17;9(6):91–101. doi: 10.1049/htl2.12036

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© 2022 The Authors. Healthcare Technology Letters published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and Technology.

This is an open access article under the terms of the http://creativecommons.org/licenses/by-nc-nd/4.0/ License, which permits use and distribution in any medium, provided the original work is properly cited, the use is non‐commercial and no modifications or adaptations are made.

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Effect of insertion trajectory on angle deviation ( $a_{d e v}$ ). Average across all catheter lengths is reported. Error bars are not shown to preserve legibility of the figure. Standard deviations are reported in Figure 11