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. Author manuscript; available in PMC: 2022 May 1.
Published in final edited form as: Med Phys. 2021 Mar 24;48(5):2553–2565. doi: 10.1002/mp.14816

Figure 1:

Figure 1:

(a) The main components of the new Smart Template. The ultrasonic motors are mounted on the back of the device, while the piezoelectric motors are directly mounted on the angulation stages. (b) The Smart Template was designed to allow for two-degree-of-freedom (DoF) actuation of the needle guider in the RA-directions and two independent tilting DoFs to angulate the needle-guide. Figures (c) and (d) shows the horizontal and vertical angulation stages moving within the translation stages to provide the needle guide angulation, respectively.