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. Author manuscript; available in PMC: 2015 Jul 28.
Published in final edited form as: IEEE Int Conf Robot Autom. 2014 May 31;2014:4368–4373. doi: 10.1109/ICRA.2014.6907495

Fig. 5.

Fig. 5

Experimental phantoms and scenarios. (a) Scenario 1, experiments performed in a homogenous phantom. (b) Scenario 2, experiments performed in a two-layer phantom. (c) Scenario 3, experiments performed in a biological tissue phantom. In all experiments the initial target location is set to x = 90 mm, y = −15 mm, and z = −5 mm.