Figure 4
From: Mosquito proboscis-inspired needle insertion to reduce tissue deformation and organ displacement
Tissue strain Exx during three insertion motions at t = 2.0, 2.2, and 2.4 s (scale: cannula diameter of 1.27 mm). (a) NCD insertion: the direct insertion motion generated the highly concentrated compressive tissue strain in front of the needle which could induce prostate displacement. (b) NCI insertion: the opposite motions of the needle and cannula reduced the tissue strain in front of the needle and stabilized the surrounding tissue displacement. (c) MPI insertion: the notches at the MPI needle tip provided the critical tissue anchoring to further reduce the overall tissue displacement.
