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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.8.

Fig.8

3D Slicer planning workstation showing a selected target and the real-time readout of the robot's needle position. The line represents a projection along the needle axis and the sphere represents the location of the needle tip.