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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. 17.

Fig. 17

(Left) The left manipulator retracts the tissue, exposing the targets for the right manipulator to cut with the holmium laser. (Right) A photograph of what the prostate model looked like before and after the experiment.