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. Author manuscript; available in PMC: 2019 Aug 27.
Published in final edited form as: IEEE Trans Biomed Eng. 2016 Oct 3;64(7):1608–1618. doi: 10.1109/TBME.2016.2612229

Fig. 15.

Fig. 15.

Based on the optical markers on the probe, the average probe position and orientation difference in all 6 interfraction experiments after the virtual fixtures.