Date of download: 12/22/2017 Copyright © ASME. All rights reserved. From: Development of a Low-Cost Inspection Arm to Map the Available Workspace Within the Abdominal Cavity J. Med. Devices. 2013;7(3):030918-030918-2. doi:10.1115/1.4024507 Figure Legend: 5 DOF Inspection arm that was developed to map the available workspace of the abdominal cavity for surgical devices such as in vivo surgical robots

Date of download: 12/22/2017 Copyright © ASME. All rights reserved. From: Development of a Low-Cost Inspection Arm to Map the Available Workspace Within the Abdominal Cavity J. Med. Devices. 2013;7(3):030918-030918-2. doi:10.1115/1.4024507 Figure Legend: A path was cut into a piece of basswood using a laser cutter, secured inside a peritoneal training model, and was traced

Date of download: 12/22/2017 Copyright © ASME. All rights reserved. From: Development of a Low-Cost Inspection Arm to Map the Available Workspace Within the Abdominal Cavity J. Med. Devices. 2013;7(3):030918-030918-2. doi:10.1115/1.4024507 Figure Legend: The dotted path, traced by the arm's operator through a laparoscopic port, is superimposed over the actual path