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. Author manuscript; available in PMC: 2012 May 18.
Published in final edited form as: Int J Comput Assist Radiol Surg. 2011 Jun 23;7(2):181–190. doi: 10.1007/s11548-011-0598-9

Fig. 4.

Fig. 4

2D view of robot workspace when front/rear triangles link length are changed: a 120/120: a sphere of 50 mm diameter represents a relatively large prostate, b 120/80: The 2D workspace is enlarged as the result of shortening the back links