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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. 6.

Fig. 6

Both paths compared to the actual needle insertion. Both paths successfully reached the target, even path B, which started in a different location than the planner was initially given.