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. Author manuscript; available in PMC: 2018 Feb 1.
Published in final edited form as: IEEE Trans Ind Electron. 2016 Apr 21;64(2):1626–1635. doi: 10.1109/TIE.2016.2557306

Fig. 4.

Fig. 4

(a) Kinematic joint range of the 5-DOF gantry (left), and 3-DOF manipulator (right). Points on the gantry plot indicate the position of the US probe transducer head; whereas the manipulator plot indicates the needle tip position (red dot represents the manipulator origin frame at the θ rotation axle center). (b) Illustration of the two rotational degrees of motion in the gantry (α and ϕ) used to align the manipulator unit with the vessel orientation.