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. Author manuscript; available in PMC: 2016 Feb 3.
Published in final edited form as: IEEE Trans Robot. 2015 Jan 23;31(1):67–84. doi: 10.1109/TRO.2014.2378431

Fig. 8.

Fig. 8

Robotic cauterization of the choroid plexus. Robot enters right lateral ventricle and also crosses over into left ventricle to perform cauterization. Red ○ define the tip task frame set B indicating the cauterization points in the right lateral ventricle.