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. 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. 4.

Fig. 4

A side view of the 3-DOF needle driver module providing cannula translation and rotation (2-DOF) and stylet translation (1-DOF) and the 3-DOF actuated Cartesian stage module.