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De Falco, I. (author), Culmone, C. (author), Menciassi, Arianna (author), Dankelman, J. (author), van den Dobbelsteen, J.J. (author)Needles are advanced tools commonly used in minimally invasive medical procedures. The accurate manoeuvrability of flexible needles through soft tissues is strongly determined by variations in tissue stiffness, which affects the needle-tissue interaction and thus causes needle deflection. This work presents a variable stiffness mechanism for...journal article 2018