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. Author manuscript; available in PMC: 2010 Dec 2.
Published in final edited form as: Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron. 2010 Sep 26;2010:796–801. doi: 10.1109/BIOROB.2010.5626987

Fig. 1.

Fig. 1

Pneumatically actuated 4-DOF robot for MRI-guided transperineal prostate needle placement (RAS: scanner coordinate, XYZ: manipulator coordinate).