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. Author manuscript; available in PMC: 2017 Dec 12.
Published in final edited form as: Proc Int Conf Adv Robot. 2015 Sep 10;2015:130–136. doi: 10.1109/ICAR.2015.7251445

Fig. 5.

Fig. 5

The information flow during needle insertion trials on a soft plastic phantom using the developed needle driver module with visual feedback. (a) The experimental setup using an 18 G biopsy gun. (b) The user interface showing the target location and current needle position for visual feedback to the operator. (c) A detailed view of the operation site while inserting a 20 G brachytherapy needle.