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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. 2.

Fig. 2

Equivalent kinematic diagram of the robot -details the primary six degrees of freedom for needle insertion procedures with this manipulator. Additional application-specific end effectors may be added to provide additional DOF.