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. 8.

Fig. 8

The GUI of the robot control software running on the control computer in control room. The upper left column (1) is robot registration and calibration, the upper middle column (2) displays the current target point transformation and current actual robot 6-DOF pose. The upper right column (3) contains the desired target transformation and buttons to control biopsy or brachytherapy procedures. The bottom row (4) is the joint space panel.