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. Author manuscript; available in PMC: 2010 Jul 17.
Published in final edited form as: Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2008 Oct 19;2008:819–824. doi: 10.1109/BIOROB.2008.4762833

Fig. 5.

Fig. 5

Path B: Needle path when the needle starts at a different location with a position error (1.3 cm,2 cm). Note that the bevel flips direction about 2 cm earlier than initially planned. Images are taken from the cameras during the experiments. Each square is 2 cm on each side. The grid lines and obstacles are printed on transparency film and are overlaid on top of the phantom tissue during the experiments.