Date of download: 10/25/2017 Copyright © ASME. All rights reserved. From: Measurement System for the Characterization of Micro-Manipulation Motion and Force J. Med. Devices. 2013;7(3):030940-030940-2. doi:10.1115/1.4024524 Figure Legend: Electromagnetic sensor and accelerometer mounts for surgical instruments

Date of download: 10/25/2017 Copyright © ASME. All rights reserved. From: Measurement System for the Characterization of Micro-Manipulation Motion and Force J. Med. Devices. 2013;7(3):030940-030940-2. doi:10.1115/1.4024524 Figure Legend: Proposed standalone force measurement device with embedded force-torque sensor

Date of download: 10/25/2017 Copyright © ASME. All rights reserved. From: Measurement System for the Characterization of Micro-Manipulation Motion and Force J. Med. Devices. 2013;7(3):030940-030940-2. doi:10.1115/1.4024524 Figure Legend: Angular motion convention and the motion ranges recorded during micromanipulation instrument tracking