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. Author manuscript; available in PMC: 2010 Dec 2.
Published in final edited form as: Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2010 Sep 26;2010:796–801. doi: 10.1109/BIOROB.2010.5626987

Fig. 5.

Fig. 5

Manipulator workspace i.e. reachable needle tip positions (50 mm diameter sphere represents prostate position and size).