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. Author manuscript; available in PMC: 2015 Jul 6.
Published in final edited form as: IEEE Int Conf Robot Autom. 2015 May;2015:5378–5383. doi: 10.1109/ICRA.2015.7139950

Fig. 7.

Fig. 7

The three-stage steering system deployed to three separate targets in the phantom. The tip error for each of the three runs was (a) 1.3 mm, (b) 0.5 mm, and (c) 0.2 mm.