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. Author manuscript; available in PMC: 2015 Apr 1.
Published in final edited form as: Int J Rob Res. 2014 Apr;33(4):616–630. doi: 10.1177/0278364913500365

Figure 19.

Figure 19

High-resolution coronal (left) and sagittal (right) spot images at different stages of targeting: (A) target being identified and the robot moved into position to move towards the target; (B) mid-point of targeting; (C) needle reaching the final target location.