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A Novel Full Prediction Model of?3D Needle Insertion Proceduresy predict tissue deformation, needle deflection and the interaction force with an acceptable calculation efficiency. The simulation results demonstrate the accuracy of the Kriging based friction force model. The visual simulation results of needle insertion process was also given in this paper. The

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Hui Meng,Lingkai Chen,Shiqiang Zhu,Chentao Fei,Yong Zhang,Miaojuan Zheng,Jianda Han,Wei Song

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Murong Li,Yong Lei,Shilun Du,Yingda Hu,Zhen Wang,Tian Xu,Wei Song

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