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. 2013 Aug 9;24(1):79–85. doi: 10.1007/s00330-013-2979-7

Fig. 3.

Fig. 3

The RFA needle was inserted by the radiologist through the bush and the bush holder. The needle was then pushed to the predetermined depth where the end-effector of the robotic arm was located. The robotic arm was then detached from the RFA needle to allow a CT check of positioning