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. Author manuscript; available in PMC: 2016 Jan 25.
Published in final edited form as: Med Image Anal. 2008 Jun 18;12(5):535–545. doi: 10.1016/j.media.2008.06.002

Fig. 1.

Fig. 1

System setup with an anthropomorphic phantom in the operating room (left) and a closer view of the robot from the hysician’s perspective (right). Note how the standard clinical hardware and setup are preserved.