Page 353 - Flexible Robotics in Medicine
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344 Chapter 14
Figure 14.18
Tool tissue interaction in nasal cavity scanning (wavelength shift).
In the second stage, the CTR was tasked to scan the nasal cavity (Fig. 14.19), which is a
significantly more constrained space than the oral cavity. The task space was a 5-degree
angle, and data were collected over a period of 90 seconds. Similar to the oral cavity, the
