Preoperative color Doppler study facilitates identification of skin perforators, thus simplifies the procedure.

This study is proposed to measure the straightness error, yaw error, pitch error of motion stage by using Quad Detector and Laser Doppler Displacement Meter.

Very good modal separation was achieved and verified by using laser Doppler vibrometer (LDV) and impedance measurement by modal sensors on the outer border of stator with network analyzer.

Three lesions were all detected by color Doppler ultrasound and were proved by renal angiography.

A radar aimed at the ground senses Doppler shifts in the frequency of the reflected beam, from which the robot then calculates relative motion with high precision.