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>Figure S4: The relationship between the normal load and frictional force in the porcine esophageal tissue and the silicone sheet for a 0.6-mm-diameter sapphire needle using HHS 2000
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Figure S4: The relationship between the normal load and frictional force in the porcine esophageal tissue and the silicone sheet for a 0.6-mm-diameter sapphire needle using HHS 2000