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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. 4.

Fig. 4

Representative images of glass rod and titanium needle artifact: (a) zoomed view of typical glass rod artifact, (b) glass rod artifact images from inferior to superior direction (left to right), (c) and (d) are of titanium needle.