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. Author manuscript; available in PMC: 2019 Sep 4.
Published in final edited form as: J Med Robot Res. 2018 May 15;4(2):1950001. doi: 10.1142/S2424905X19500016

Fig. 8.

Fig. 8.

Phantom studies accuracy assessment: plot of measured needle placement accuracy in each of the five trials in each of the five sessions. Data is shown with errors in the lateral R-L direction (Err_R), vertical A-P direction (Err_A), and total in-plane error magnitude (Err_RA).