Fig. 2

Screenshot of the mini-AVR planning tool. The graphical user interface (GUI) shows the isocontours of the access distance and access angle. The access angle contours are colorized ranging from dark green (small angle) to white (large angle). The access distance contours are colorized ranging from dark blue (short distance) to white (long distance). The quantitative measures are displayed in the legend on the right: the left column of bars for angles and right column for distance