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,29:413431.[2]柳明珠,程榕時,[J].高分子學報,1996, 6(2):234238.[3]Dr C. Chui,E. Kobayashi,X. Chen,T. Hisada,I. Sakuma. bined pression and elongation experiments and nonlinear modelling of liver tissue for surgical simulation[J]. Medical Biological Engineering puting, 2004(6).[4]Hyon S., Ikada Y. Preparation of transparent poly(vinyl alcohol) hydrogel[J]. Polymer Bulletin, 1989,33(22):119122.[5]Simone C, Okamura AM. Modeling of needle insertion forces for robotassisted percutaneous therapy[C]// Proceedings of the IE