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. Author manuscript; available in PMC: 2021 Feb 1.
Published in final edited form as: IEEE Trans Robot. 2019 Oct 29;36(1):222–239. doi: 10.1109/tro.2019.2946726

Fig. 1.

Fig. 1.

Conceptual illustration of the proposed robotic workstation for orthopedic applications. It comprises a positioning robot, a CM (i.e., ortho-snake) equipped with FBG optical sensing unit, and proper flexible cutting tools. The shape and position of the CM inside the patient’s body can also be captured using intermittent intraoperative fluoroscopy.