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. Author manuscript; available in PMC: 2020 Sep 25.
Published in final edited form as: IEEE Trans Med Robot Bionics. 2019 Jan 28;1(1):14–21. doi: 10.1109/tmrb.2019.2895780

Fig. 6.

Fig. 6.

Results of curved drilling experiments on human cadaveric bones. First row demonstrates the X-ray images of the drilled tunnels. Second row shows the ortho-snake’s shapes obtained with the 2D-3D registration method. Third row demonstrates the results of the reconstructed drilling trajectories. Results of the experiments performed with (a) 0.10 mm/s feed-velocity and 20 N pulling tensions; (b) 0.10 mm/s feed-velocity and 20 N pulling tensions; (c) 0.10 mm/s feed-velocity and 25 N pulling tensions; (d) 0.10 mm/s feed-velocity and 25N pulling tensions; (e) 0.05 mm/s feed-velocity and 6 N pulling tensions.