Figure 4
(a) From left: (top row) 0.88 mm diamond shaped tip (88 N), 1.2 mm diamond shaped tip (12 N), 1.6 mm diamond shaped tip (16 N), 14 gauge medical needle (14 G), 16 gauge medical needle (16 G), (bottom row) 18 gauge medical needle (18 G), 19 gauge medical needle (19 G), 20 gauge medical needle (20 G), 25 gauge medical needle (25 G), 30 gauge medical needle (30 G). (b) Experimental setup for the needle characterization experiments. (c) Needle with flexible shaft.
