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. Author manuscript; available in PMC: 2012 Jul 21.
Published in final edited form as: IEEE ASME Trans Mechatron. 2011 Jul 21;PP(99):1–5. doi: 10.1109/TMECH.2011.2160353

Fig. 2.

Fig. 2

Images of the catheter robot system. Left: The robotic catheter and end effector before insertion during an in vivo experiment. Right: 3D ultrasound image of the catheter device in vivo [14].