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. Author manuscript; available in PMC: 2012 Jan 25.
Published in final edited form as: IEEE Trans Rob Autom. 2003 Oct;19(5):912–917. doi: 10.1109/TRA.2003.817502

Fig. 2.

Fig. 2

Port placement versus robot placement. Arrows on patient chest indicate possible locations for placing a port site. Arrows at the robot indicate possible locations of robot base.