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In-vivo 3D PA imaging of the peripheral blood vessels in the human arm with and without automatic force control. (A) and (B) are 3D blood vessel images (from two angles of view); (C) and (D) are top-view MAP images; (E) and (F) are the change of the contact forces during the scanning; (G) is the 2D tomographic images at the white dashed lines in (C) and (D), the red arrows indicate the blood vessels and the yellow arrow indicates an air bubble in the PA images.
