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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. 6.

Fig. 6

Diagram of inverse kinematic solution for a biopsy target and a series of brachytherapy seeds distribution planning.