Skip to main content
. Author manuscript; available in PMC: 2015 Sep 23.
Published in final edited form as: IEEE ASME Trans Mechatron. 2014 Nov 5;20(4):1920–1932. doi: 10.1109/TMECH.2014.2359413

Fig. 2.

Fig. 2

System architecture and data flow of the robotic system. Six modules are shown in gray block and OpenIGTLink is used to exchange control, image and position data.