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. Author manuscript; available in PMC: 2023 Oct 31.
Published in final edited form as: IEEE Robot Autom Lett. 2022 Oct 31;7(4):12475–12482. doi: 10.1109/lra.2022.3218183

Fig. 3.

Fig. 3.

Schematic diagram of sensor-based probe normal positioning. Sensor2 and sensor4 are mounted in the US imaging plane; Sensor1 and sensor3 are mounted co-plane, orthogonal to the US imaging plane.