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. Author manuscript; available in PMC: 2023 Jun 14.
Published in final edited form as: IEEE Trans Instrum Meas. 2023;72:1–12. doi: 10.1109/TIM.2023.3239925

Fig. 1.

Fig. 1

Proposed ultrasound robot: (a) prototype; (b) multifunctional end-effector; (c) force control mechanism; (d) constant force generation and regulation diagram (CFGRD).