Fig. 3.

Phantom evaluation of Click-On vs. DROP-IN probe. a Overview of the robot-assisted phantom setting. b, c DROP-IN and Click-On probe in action on the Phantom Plate. d, e Color-coded diagram of the movement trajectory with DROP-IN and Click-On gamma probe (red—radioactive source location, purple—collection bucket, blue—the DROP-IN probe home location in the plate for releasing and picking up, and black—transition between locations). The coordinate system is such that x- and y-axes show the image plane with the center of the image as the origin and z-axis shows the distance from the camera