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(A) T1-weight images of the bottle phantom can be seen (left to right) with no robot and the robot turned on and operating. (B) The outer tube, inner tube, and nitinol tube can be seen inside a water phantom in the coronal plane of the MRI. There was a percent increase of 2.14%, 6.07%, and 440% for the outer tube (initial OD: 7.93 mm), inner tube (initial OD: 6.00 mm), and nitinol tube (initial OD: 3.00 mm), respectively.
