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. Author manuscript; available in PMC: 2017 Jul 3.
Published in final edited form as: IEEE Robot Autom Lett. 2017 Mar 8;2(3):1656–1663. doi: 10.1109/LRA.2017.2679902

Fig. 6.

Fig. 6

(a) Image of the placenta imaging setup, showing the position of the probe and laparoscope relative to the placenta; (b) Image of the instrument partially submerged in water with the tip extended to view the placenta along the normal to the placenta surface; (c) ex vivo imaging of human term placenta.