Fig. 3.

(a) US image of the prostate and corresponding axial CT images of the dog prostate with the (b) real probe and (c) model probe in place. (d) Prostate marker positions recorded from CT images. Each cluster in each probe category (e.g., real probe, model probe, no probe) represents the different spatial positions of one of the three implanted markers after repeated trials. (e) Reproducibility of marker positions after repeated robotic placement with the real probe, model probe after returning to the same position or force, and when no probe was in place, from left to right, respectively.