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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. 7.

Fig. 7.

3D meshed models of the considered femur comprised of curved and straight tunnels together with their identical fracture geometry. Left figure shows a conceptual curved drilling trajectory avoiding an osteoporotic region. This trajectory can be obtained by real-time control of the steerable drilling system.