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. Author manuscript; available in PMC: 2020 May 12.
Published in final edited form as: Ann Biomed Eng. 2017 Nov 17;46(3):475–487. doi: 10.1007/s10439-017-1960-z

Figure 7.

Figure 7.

MR images obtained from the cadaver trial using the 4 degree-of-freedom SpinoBot. Needle is indicated by the white arrow. Progressing from the upper images to the lower, the needle trajectory is visible as it avoids the spinous process and punctures the spine.