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Figure 7 :The John Hopkins Robotic TRUS brachytherapy system (With permission from Fichtinger et al., Robotically assisted prostate brachytherapy with transrectal ultrasound guidanced Phantom experiments, Brachytherapy 2006;5:14– 26

Figure 7 :The John Hopkins Robotic TRUS brachytherapy system (With permission from Fichtinger et al., Robotically assisted prostate brachytherapy with transrectal ultrasound guidanced Phantom experiments, Brachytherapy 2006;5:14– 26