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Errata
The incorrect version of Fig. 15 was published with text missing in control flow boxes. The corrected diagram is given below.
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(May 9, 2017). "Erratum: “A Four Degree of Freedom Robot for Positioning Ultrasound Imaging Catheters” [J. Mechanisms Robotics 8(5), 051016 (May 04, 2016); DOI: 10.1115/1.4032249]." ASME. J. Mechanisms Robotics. August 2017; 9(4): 047001. https://doi.org/10.1115/1.4036457
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The incorrect version of Fig. 15 was published with text missing in control flow boxes. The corrected diagram is given below.