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. Author manuscript; available in PMC: 2023 Nov 1.
Published in final edited form as: IEEE Trans Med Robot Bionics. 2022 Oct 19;4(4):922–934. doi: 10.1109/tmrb.2022.3215522

Fig. 7:

Fig. 7:

Experimental setup: (a) actuation system with steerable guide actuator and implant manipulation actuator and (b) robot with an EM tracker attached for tracking.