Skip to main content
. Author manuscript; available in PMC: 2024 Aug 5.
Published in final edited form as: IEEE ASME Trans Mechatron. 2023 Jan 16;28(4):2405–2410. doi: 10.1109/tmech.2022.3232546

Fig. 7.

Fig. 7.

Phantom Experiment. The dynamic visualization of the pocket topology can be viewed between the prostate (red), urethra (yellow), and rectum (brown) with the final (blue) injected volume.