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. Author manuscript; available in PMC: 2014 Mar 26.
Published in final edited form as: IEEE Int Conf Robot Autom. 2013 Dec 31;20132:1228–1233. doi: 10.1109/ICRA.2013.6630728

Figure 8.

Figure 8

Analytical workspace of the front and reas stages. Red circle implies the prostate gland for two different needle positions with 35 mm offset.