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. Author manuscript; available in PMC: 2011 Feb 23.
Published in final edited form as: IEEE Int Conf Robot Autom. 2007 Apr 10;2007:3015–3020. doi: 10.1109/ROBOT.2007.363930

Fig. 5.

Fig. 5

Simulation with initial deviation of x1 = 10mm, β = 5° and γ = 10°. In this simulation there is no measurement noise. With no control, the needle very does not converge to the desired plane. With control, the needle stabilizes to the desired plane.