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. Author manuscript; available in PMC: 2014 Aug 12.
Published in final edited form as: Rep U S. 2013;2013:4092–4098. doi: 10.1109/IROS.2013.6696942

Fig. 3.

Fig. 3

Flexure configuration integrated with the slave prostate needle placement manipulator. The inlay shows the flexure design and FPI fiber sensor element embedded inside the sensor groove. The FPI sensor element is placed vertically on the surface of the flexure.