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. Author manuscript; available in PMC: 2018 Apr 23.
Published in final edited form as: Rep U S. 2017 Dec 14;2017:1677–1684. doi: 10.1109/IROS.2017.8205979

Fig. 4.

Fig. 4

Exploded view of the needle driver assembly indicating parts removable for sterilization. During a surgical procedure, the needle driver and robot arm are covered in a sterile drape. A sterile pack containing the probe assembly, Rz drive gear, depth stop, and cannula is provided to the surgeon and attached over top the sterile drape.