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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. 8.

Fig. 8

Mosaics formed from the scanning trajectories; (a) Raster scan of the human ex vivo placenta, 30 mm × 30 mm; (b) Spiral scan of the human ex vivo placenta, radius of ≈ 20 mm; (c) Spiral scan of a model placenta, radius of ≈ 20 mm.