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. Author manuscript; available in PMC: 2013 Dec 31.
Published in final edited form as: J Urol. 2012 Oct 22;188(6):10.1016/j.juro.2012.07.107. doi: 10.1016/j.juro.2012.07.107

Figure 4.

Figure 4

A, core distribution by 1 urologist shows gold standard (green circles) and actual cores (red circles) of all 6 mock-ups, and minimum enclosing spheres for each gold standard point (blue circles). B, same core distribution with robotic assistance.