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. Author manuscript; available in PMC: 2016 Aug 26.
Published in final edited form as: Int J Rob Res. 2015 Jul 28;34(13):1559–1572. doi: 10.1177/0278364915585397

Fig. 15.

Fig. 15

An illustration of the time spent at various levels of error in the two path-tracing experiments, with and without endoscope pose manipulation. The surgeons requested termination of this experiment prior to completion.