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. Author manuscript; available in PMC: 2009 Jun 8.
Published in final edited form as: Med Image Comput Comput Assist Interv. 2008;11(Pt 2):701–709. doi: 10.1007/978-3-540-85990-1_84

Fig. 1.

Fig. 1

(A) A robot for transperineal prostate biopsy and treatment [9]. Pneumatic actuators and optical encoders allow operating the robot inside a closed-bore 3T MRI scanner. Z-shape fiducial frame was attached for a calibration. (B) The diagram shows communication data flow of the proposed software system.