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. Author manuscript; available in PMC: 2010 Jun 1.
Published in final edited form as: Med Image Anal. 2009 Feb 20;13(3):445–455. doi: 10.1016/j.media.2009.02.001

Fig. 1.

Fig. 1

Implementation of 1-DOF needle driver system under continuous MRI for RF ablation of ex vivo tissue. (a) Experimental setup in MRI, b) Photograph of the PHANToM haptic device in operation providing force feedback to the operator, © 2008 IEEE, c) Hydraulic actuation components and d) 1 degree-of-freedom MRI compatible system used in the experiment.