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. Author manuscript; available in PMC: 2023 Nov 1.
Published in final edited form as: IEEE Trans Med Robot Bionics. 2022 Aug 4;4(4):901–909. doi: 10.1109/tmrb.2022.3196321

Fig. 7:

Fig. 7:

(a) Screenshot of planning trajectories. (b) An example X-ray image taken after the robotic needle injections. (c) Rendering of the Post-operative CT scans. (d) Illustration of the manually labeled safety zones.