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>Figure S5: The relationship between the normal load and mean coefficient of friction (COF) in the porcine esophageal tissue and silicone sheet for a 0.6-mm-diameter sapphire needle using HHS 2000
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Figure S5: The relationship between the normal load and mean coefficient of friction (COF) in the porcine esophageal tissue and silicone sheet for a 0.6-mm-diameter sapphire needle using HHS 2000
