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. Author manuscript; available in PMC: 2020 Sep 25.
Published in final edited form as: IEEE Trans Med Robot Bionics. 2019 Apr 22;1(2):77–87. doi: 10.1109/tmrb.2019.2912444

Fig. 3.

Fig. 3.

MR images showing the MINIR-II robot in the human cadaver study: (a) immediately after being inserted, (b) robot deflected rightward, and (c) robot deflected leftward.