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. Author manuscript; available in PMC: 2010 Jan 12.
Published in final edited form as: Int J Med Robot. 2008 Jun;4(2):131–138. doi: 10.1002/rcs.185

FIGURE 12.

FIGURE 12

Collision and deformation while manipulating the ligating loop. The loop is decomposed into twenty-eight line segments for the purpose of collision detection and response. The radial lines represent the relation of proximity