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. Author manuscript; available in PMC: 2010 Nov 8.
Published in final edited form as: Med Image Comput Comput Assist Interv. 2008;11(Pt 2):509–517. doi: 10.1007/978-3-540-85990-1_61

Fig. 1.

Fig. 1

The three actuators employed in this study: Nanomotion motor (left), Shinsei motor (center) and Pneumatic cylinder (right)