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. Author manuscript; available in PMC: 2021 Aug 19.
Published in final edited form as: IEEE Int Conf Robot Autom. 2020 Sep 15;2020:10.1109/icra40945.2020.9197534. doi: 10.1109/icra40945.2020.9197534

Fig. 5.

Fig. 5.

CAD model of the needle driver actuation box, showing the insertion unit and rotation unit. The presented setup is the motorized mode, the gears are engaged. Once the upper box is lifted up, the gears will be disengaged and switch to the manual mode.