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. Author manuscript; available in PMC: 2012 May 9.
Published in final edited form as: IEEE Int Conf Robot Autom. 2011 May 9:667–673. doi: 10.1109/ICRA.2011.5980311

Fig. 7.

Fig. 7

Example 2 - the objective is to navigate inside the VS of a hydrocephalic ventricle and to approach the base of the choroid plexus (red dot) from a predefined direction specified by the green vector. The algorithm succeeded in identifying a three sectioned robot with its tip direction aligned almost perfectly (red arrow) with the green arrow.