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. Author manuscript; available in PMC: 2024 Aug 5.
Published in final edited form as: IEEE ASME Trans Mechatron. 2023 Jan 16;28(4):2405–2410. doi: 10.1109/tmech.2022.3232546

Fig. 1.

Fig. 1.

(A) A side view of the outer tube after the machining operations. (B) Front cross-section and isometric view of the MR-tracked needle assembly at the distal end. (C) Side cross-section view of the distal end of the injection needle assembly (proximal coil not visualized). (D) Side view of the proximal end of the needle assembly.