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. Author manuscript; available in PMC: 2011 Jun 13.
Published in final edited form as: IEEE Int Conf Robot Autom. 2008 Jun 13;2008:2489–2495. doi: 10.1109/ROBOT.2008.4543587

Fig. 1.

Fig. 1

Patient positioning on the leg support (left) and robot positioning within the confined space of the access tunnel (right). The robot accesses the patient's prostate through the perineal wall which rests against an opening in the superior surface of the leg rest.