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Figure 3a: A specially devised perineal ultrasound probe robotic holder. Subjects sat on an uroflow micturition chair. The ultrasound probe was covered with solid echogel and advanced via remote control to achieve gentle contact with the patientís perineal skin, manipulating levers using the position indicator. Arrows indicate the position indicator.

Figure 3a: A specially devised perineal ultrasound probe robotic holder. Subjects sat on an uroflow micturition chair. The ultrasound probe was covered with solid echogel and advanced via remote control to achieve gentle contact with the patientís perineal skin, manipulating levers using the position indicator. Arrows indicate the position indicator.