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. Author manuscript; available in PMC: 2024 Oct 1.
Published in final edited form as: IEEE Trans Biomed Eng. 2023 Sep 27;70(10):2895–2904. doi: 10.1109/TBME.2023.3268279

Fig. 9.

Fig. 9.

(A) The robot in the MRI room. (B) An example of one dynamic slice can be seen with error between the target point (green star) and the tip position (red dot) superimposed on the image. (C) A time sequence of the inner tube entering from start to finish in the sagittal plane. Image intensity variations within the clot originate from artifacts caused by fluid flow.