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. Author manuscript; available in PMC: 2018 Feb 1.
Published in final edited form as: IEEE ASME Trans Mechatron. 2016 Oct 20;22(1):115–126. doi: 10.1109/TMECH.2016.2618362

Figure 2.

Figure 2

a) The robot, b) Needle-driver, and c) Schematic of the needle-driver