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. Author manuscript; available in PMC: 2014 Jul 1.
Published in final edited form as: Rep U S. 2011:5153–5159. doi: 10.1109/IROS.2011.6095168

Fig. 1.

Fig. 1

Virtual simulation of a concentric tube robot executing a motion plan for neurosurgery at the skull base. The robot is inserted through the nostril and guided toward the pituitary gland (highlighted in green) in the skull base while avoiding skin, bone, blood vessels, and healthy brain tissue. The component tubes of the robot are colored gray, orange, cyan, and yellow.