Official websites use .gov
A
.gov website belongs to an official
government organization in the United States.
Secure .gov websites use HTTPS
A lock (
) or https:// means you've safely
connected to the .gov website. Share sensitive
information only on official, secure websites.
Schematic representation of the selected probe positions for the upper abdominal US scan using the robot based on the phantom geometry, with the pose numbered 1–5 for the patient middle, 6–10 for the patient right, and 11–15 for the patient left. The joint configuration is shown for each pose.
