Table 4.

Normal forces acting on the needle maximum values.

Scenario	Maximum Normal Force
	Between Needle and Centering Device [N]	Between Stylet and Canula [N]
1 (250 mm/s)	3.57	1.36
2 (125 mm/s)	5.73	2.28
3 (25 mm/s)	5.02	1.99
4 (12.5 mm/s)	5.99	2.392
5 (250 mm/s + rotation)	8.74	3.45
6 (125 mm/s + rotation)	7.97	3.16
7 (12.5 mm/s + rotation)	5.24	2.08