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. Author manuscript; available in PMC: 2017 Oct 1.
Published in final edited form as: Rep U S. 2016 Dec 1;2016:1837–1843. doi: 10.1109/IROS.2016.7759292

Fig. 2.

Fig. 2

(a) Orientation angles of surgical drill with respect to bone surface. Since the drill rotates continuously, only two angles must be considered: θ and ϕ; (b) Photograph of fluted cutting burr for otologic surgery.