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Design and evaluation of a prototype medical device for robotic and manual percutaneous dilatational tracheostomy

Fig 2

Four steps of using TrachyPen to complete the PDT procedure.

Step 1: puncture; Step 2: needle retraction and guidewire insertion; Step 3: dilation; Step 4: TrachyPen disengage and manual tube insertion.

Fig 2

doi: https://doi.org/10.1371/journal.pone.0343014.g002