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. Author manuscript; available in PMC: 2009 Nov 3.
Published in final edited form as: Int J Rob Res. 2009 Sep 1;28(9):1169–1182. doi: 10.1177/0278364908104855

Fig. 1.

Fig. 1

Representation of the basic sequence of events used within the environment of the MRI platform for the closed-loop displacement control of wireless entities along pre-planned paths in blood vessels.