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. Author manuscript; available in PMC: 2012 Apr 1.
Published in final edited form as: Robot Comput Integr Manuf. 2011 Apr 1;27(2):249–256. doi: 10.1016/j.rcim.2010.06.006

Figure 2.

Figure 2

Schematic diagram of the ESS system (A), photos of the ESS instrument (B) and the flexible fiberoptic catheter-type probe used for previous ESS studies (C).