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. Author manuscript; available in PMC: 2012 Mar 13.
Published in final edited form as: IEEE Int Conf Robot Autom. 2011 Aug 15;2011:4834–4839. doi: 10.1109/ICRA.2011.5980309

Fig. 3.

Fig. 3

CAD model of various needle insertion angles: pitch angle of 18, 28, 38 degrees and roll angle of −30, −15, 0, 15, 30 degrees. Grey colored reference lines represent initial needle insertion axis, roll axis and the line between roll axis and the pivot point of pitch angle.