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. Author manuscript; available in PMC: 2010 May 1.
Published in final edited form as: Int J Rob Res. 2009 Oct 1;28(10):1355–1372. doi: 10.1177/0278364909104065

Fig. 5.

Fig. 5

MCI design and prototype. A, MCI actuation package. The MCI may be mounted by its base (at the upper left of the image) to a robot or handle. The surgical anchor driver is mounted on the linear slide carriage. B, MCI hardware prototype.