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. Author manuscript; available in PMC: 2023 Feb 1.
Published in final edited form as: IEEE Robot Autom Lett. 2023 Feb;8(2):1005–1012. doi: 10.1109/LRA.2023.3234823

Fig. 1. The MAMMOBOT tip consists of a soft growing sheath covering a steerable catheter for navigation within the mammary duct branching lumen.

Fig. 1