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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. 18.

Fig. 18

(Left) The experimental setup shows the endoscope inserted into the specimen. The specimen is held with an adhesive plastic wrap and sutures through the specimen and the test stand. (Right) The dissected, sectioned post-operative specimen is shown. A catheter is placed through the urethra for reference, and the robotically removed 2.7 g lateral lobe is shown next to the specimen. The defect in the prostate where the lobe was removed is also visible.