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. Author manuscript; available in PMC: 2014 Sep 13.
Published in final edited form as: Int J Med Robot. 2013 Sep 13;10(3):344–355. doi: 10.1002/rcs.1534

Figure 1.

Figure 1

(a) FLS work station showing FLS trainer box with peg transfer setup (b) peg transfer involves transfering the pegs from peg posts on the left to those on right and vice-versa (b) Maryland graspers with curved jaws are used for peg trasnfer.