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. 2010 Jul-Sep;26(3):395–403. doi: 10.4103/0970-1591.70580

Figure 7.

Figure 7

The John Hopkins Robotic TRUS brachytherapy system (With permission from Fichtinger et al., Robotically assisted prostate brachytherapy with transrectal ultrasound guidanced Phantom experiments, Brachytherapy 2006;5:14– 26