1. From: An Ultrasound Probe Holder for Image-Guided Surgery
Date of download: 10/29/2017
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From: An Ultrasound Probe Holder for Image-Guided Surgery
J. Med. Devices. 2008;2(2): doi: /
Figure Legend:
(a) The actual constructed prototype of the US probe holder positioned at a target point i and the {origin} reference frame is attached to the table; (b) for each target point i, the coordinates of three arbitrary points were determined and used to define a frame {act} that describes the actual orientation of the end effector