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. Author manuscript; available in PMC: 2019 Oct 16.
Published in final edited form as: Phys Med Biol. 2018 Oct 16;63(20):20NT02. doi: 10.1088/1361-6560/aae214

FIG. 1:

FIG. 1:

Workflow of the proposed robot-assisted prostate biopsy. The yellow box represent the patient and robot setup, the green boxes represent the planning phase and the blue boxes are the main steps during the needle placement.