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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. 6.

Fig. 6

Parameters involved in the computation of radius of curvature (R) and the needle tip position [nxtip nytip] based upon the captured camera images during needle insertion trials.