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. 2021 Mar 4;11:5218. doi: 10.1038/s41598-021-84878-3

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© The Author(s) 2021, corrected publication 2021

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

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Components of the robotic device. The device is composed of a mobile robot, navigation and display carts. Needle guide is attached to the robot arm and provides mechanical guidance for rigid straight needles. Patient reference (with 4 embedded radiopaque markers) is adhesively attached on to the patient’s skin and enables to monitor respiratory motion.