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Figure 4: Diagrammatic representation of custom vascular access phantom used in studies 1 and 2. Vessel 1 was 5 mm in diameter and 9 mm deep, bifurcating; vessel 2, 3 mm in diameter and 20 mm deep, bifurcating; and vessel 3, 4 mm in diameter and 15 mm deep, straight. Task A was to access vessel 2 between the bifurcation of vessel 1, without penetrating vessel 1; task B, to access vessel 2 after the bifurcation; and task C, to access vessel 3.
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