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. Author manuscript; available in PMC: 2015 Sep 1.
Published in final edited form as: Int J Comput Assist Radiol Surg. 2014 Feb 8;9(5):867–874. doi: 10.1007/s11548-014-0982-3

Fig. 7.

Fig. 7

The measured distal end position of the robotic catheter versus the conventional catheter. The robotic catheter has ability to reach and face any direction without twisting motion as described by black dots. On the other hand, the conventional catheter was positioned only on the PXY