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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. 9.

Fig. 9

Robotic system performing a needle insertion into a phantom in preliminary workflow evaluation experiments. Five out of five 1cm targets were successfully targeted.