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Setup for the force/torque quantification measurements. The Nano17 force/torque sensor (ATI Industrial Automation, Apex, NC, USA) was mounted co-axially between the separated shank and handle of the pedicle probe (see close-up). Due to elastic probe bending, the probe shank is not necessarily parallel to the z-axis during palpation. Both the probe and vertebra poses were tracked by the motion capture system
