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. Author manuscript; available in PMC: 2010 Feb 22.
Published in final edited form as: IEEE Trans Robot. 2009;25(5):1109–1124. doi: 10.1109/tro.2009.2027375

Fig. 2.

Fig. 2

HeartLander (HL) in the intrapericardial space (IP) in (a) coronal view and (b) axial view. The surrounding organs include the heart (H), right lung (RL), left lung (LL), diaphragm (D), fibrous pericardium (FP), sternum (ST), spinal column (SP), and esophagus (E). The sizes of the intrapericardial space and fibrous pericardium have been exaggerated for clarity. The robot tether is not shown.